aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar > Struct Template Reference

#include <aligator/compat/crocoddyl/cost-wrap.hpp>

Inheritance diagram for aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >:

Collaboration diagram for aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	CrocCostModel = crocoddyl::CostModelAbstractTpl<Scalar>
using	CrocActionModel = crocoddyl::ActionModelAbstractTpl<Scalar>
using	Base = CostAbstractTpl<Scalar>
using	BaseData = CostDataAbstractTpl<Scalar>
using	StateWrap = StateWrapperTpl<Scalar>
Public Types inherited from aligator::CostAbstractTpl< _Scalar >
using	Scalar = _Scalar
using	CostData = CostDataAbstractTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	CrocCostModelWrapperTpl (shared_ptr< CrocCostModel > cost)
	Constructor from a crocoddyl cost model.
	CrocCostModelWrapperTpl (shared_ptr< CrocActionModel > action_model)
	Constructor using a terminal action model.
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Evaluate the cost function.
void	computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Compute the cost gradients \((\ell_x, \ell_u)\).
void	computeHessians (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
shared_ptr< BaseData >	createData () const
Public Member Functions inherited from aligator::CostAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
int	nx () const
int	ndx () const
template<class U>
	CostAbstractTpl (U &&space, const int nu)
virtual	~CostAbstractTpl ()=default

Public Attributes
shared_ptr< CrocCostModel >	croc_cost_
shared_ptr< CrocActionModel >	action_model_
Public Attributes inherited from aligator::CostAbstractTpl< _Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

template<typename _Scalar>
struct aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >

Definition at line 13 of file cost-wrap.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::Scalar = _Scalar

Definition at line 14 of file cost-wrap.hpp.

CrocCostModel

template<typename _Scalar>

using aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::CrocCostModel = crocoddyl::CostModelAbstractTpl<Scalar>

Definition at line 16 of file cost-wrap.hpp.

CrocActionModel

template<typename _Scalar>

using aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::CrocActionModel = crocoddyl::ActionModelAbstractTpl<Scalar>

Definition at line 17 of file cost-wrap.hpp.

Base

template<typename _Scalar>

using aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::Base = CostAbstractTpl<Scalar>

Definition at line 18 of file cost-wrap.hpp.

BaseData

template<typename _Scalar>

using aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::BaseData = CostDataAbstractTpl<Scalar>

Definition at line 19 of file cost-wrap.hpp.

StateWrap

template<typename _Scalar>

using aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::StateWrap = StateWrapperTpl<Scalar>

Definition at line 20 of file cost-wrap.hpp.

Constructor & Destructor Documentation

CrocCostModelWrapperTpl() [1/2]

template<typename _Scalar>

aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::CrocCostModelWrapperTpl ( shared_ptr< CrocCostModel > cost )

inlineexplicit

Constructor from a crocoddyl cost model.

Definition at line 26 of file cost-wrap.hpp.

CrocCostModelWrapperTpl() [2/2]

template<typename _Scalar>

aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::CrocCostModelWrapperTpl ( shared_ptr< CrocActionModel > action_model )

inlineexplicit

Constructor using a terminal action model.

Definition at line 31 of file cost-wrap.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar>

void aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

inlinevirtual

Evaluate the cost function.

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 35 of file cost-wrap.hpp.

computeGradients()

template<typename _Scalar>

void aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::computeGradients ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

inlinevirtual

Compute the cost gradients \((\ell_x, \ell_u)\).

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 48 of file cost-wrap.hpp.

computeHessians()

template<typename _Scalar>

void aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::computeHessians ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

inlinevirtual

Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 63 of file cost-wrap.hpp.

createData()

template<typename _Scalar>

shared_ptr< BaseData > aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::createData ( ) const

inlinevirtual

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 80 of file cost-wrap.hpp.

Member Data Documentation

croc_cost_

template<typename _Scalar>

shared_ptr<CrocCostModel> aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::croc_cost_

Definition at line 22 of file cost-wrap.hpp.

action_model_

template<typename _Scalar>

shared_ptr<CrocActionModel> aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >::action_model_

Definition at line 23 of file cost-wrap.hpp.

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The documentation for this struct was generated from the following file:

• include/aligator/compat/crocoddyl/cost-wrap.hpp