Residual \(r(z) = z \ominus z_{tar} \). More...

#include <aligator/modelling/state-error.hpp>

Inheritance diagram for aligator::detail::StateOrControlErrorResidual< _Scalar, arg >:

Collaboration diagram for aligator::detail::StateOrControlErrorResidual< _Scalar, arg >:

Public Types
using	Scalar = _Scalar

using	Base = StageFunctionTpl<Scalar>

using	Data = StageFunctionDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	VectorSpace = VectorSpaceTpl<Scalar, Eigen::Dynamic>

Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar

using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

template<typename U, typename = std::enable_if_t<!is_polymorphic_of_v<Manifold, U>>>
	StateOrControlErrorResidual (const int ndx, U &&uspace, const ConstVectorRef &target)
	Constructor using the state space dimension, control manifold and control target.

	StateOrControlErrorResidual (const int ndx, const xyz::polymorphic< Manifold > &uspace, const ConstVectorRef &target)

	StateOrControlErrorResidual (const int ndx, const int nu)

	StateOrControlErrorResidual (const int ndx, const ConstVectorRef &target)
	Constructor using state space and control space dimensions, the control space is assumed to be Euclidean.

void	evaluate (const ConstVectorRef &, const ConstVectorRef &u, Data &data) const override
	Evaluate the function.

void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &u, Data &data) const override
	Compute Jacobians of this function.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionTpl (const int ndx, const int nu, const int nr)

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.

virtual	~StageFunctionTpl ()=default

virtual shared_ptr< Data >	createData () const
	Instantiate a Data object.

Public Attributes
xyz::polymorphic< Manifold >	space_

VectorXs	target_

Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	nr
	Function codimension.

Protected Member Functions
void	validate () const

Detailed Description

template<typename _Scalar, unsigned int arg>
struct aligator::detail::StateOrControlErrorResidual< _Scalar, arg >

Residual \(r(z) = z \ominus z_{tar} \).

The arg parameter decides with respect to which the error computation operates – state x or control u.. We use SFINAE to enable or disable the relevant constructors.

Definition at line 69 of file state-error.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar, unsigned int arg>

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::Scalar = _Scalar

Definition at line 71 of file state-error.hpp.

◆ Base

template<typename _Scalar, unsigned int arg>

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::Base = StageFunctionTpl<Scalar>

Definition at line 73 of file state-error.hpp.

◆ Data

template<typename _Scalar, unsigned int arg>

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::Data = StageFunctionDataTpl<Scalar>

Definition at line 74 of file state-error.hpp.

◆ Manifold

template<typename _Scalar, unsigned int arg>

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 75 of file state-error.hpp.

◆ VectorSpace

template<typename _Scalar, unsigned int arg>

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::VectorSpace = VectorSpaceTpl<Scalar, Eigen::Dynamic>

Definition at line 76 of file state-error.hpp.

Constructor & Destructor Documentation

◆ StateOrControlErrorResidual() [1/4]

template<typename _Scalar, unsigned int arg>

template<typename U, typename = std::enable_if_t<!is_polymorphic_of_v<Manifold, U>>>

aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::StateOrControlErrorResidual	(	const int	ndx,
		U &&	uspace,
		const ConstVectorRef &	target )

inline

Constructor using the state space dimension, control manifold and control target.

Definition at line 85 of file state-error.hpp.

◆ StateOrControlErrorResidual() [2/4]

template<typename _Scalar, unsigned int arg>

aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::StateOrControlErrorResidual	(	const int	ndx,
		const xyz::polymorphic< Manifold > &	uspace,
		const ConstVectorRef &	target )

inline

Definition at line 93 of file state-error.hpp.

◆ StateOrControlErrorResidual() [3/4]

template<typename _Scalar, unsigned int arg>

aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::StateOrControlErrorResidual	(	const int	ndx,
		const int	nu )

inline

Definition at line 102 of file state-error.hpp.

◆ StateOrControlErrorResidual() [4/4]

template<typename _Scalar, unsigned int arg>

aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::StateOrControlErrorResidual	(	const int	ndx,
		const ConstVectorRef &	target )

inline

Constructor using state space and control space dimensions, the control space is assumed to be Euclidean.

Definition at line 109 of file state-error.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar, unsigned int arg>

aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ evaluate()

template<typename _Scalar, unsigned int arg>

void aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

inlineoverridevirtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

Definition at line 114 of file state-error.hpp.

◆ computeJacobians()

template<typename _Scalar, unsigned int arg>

void aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::computeJacobians	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

inlineoverridevirtual

Compute Jacobians of this function.

This computes the Jacobians \( (\frac{\partial f}{\partial x}, \frac{\partial f}{\partial u}, \frac{\partial f}{\partial x'}) \)

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

Definition at line 125 of file state-error.hpp.

◆ validate()

template<typename _Scalar, unsigned int arg>

void aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::validate ( ) const

inlineprotected

Definition at line 137 of file state-error.hpp.

Member Data Documentation

◆ space_

template<typename _Scalar, unsigned int arg>

xyz::polymorphic<Manifold> aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::space_

Definition at line 78 of file state-error.hpp.

◆ target_

template<typename _Scalar, unsigned int arg>

VectorXs aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::target_

Definition at line 79 of file state-error.hpp.

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

include/aligator/modelling/state-error.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ Data

◆ Manifold

◆ VectorSpace

Constructor & Destructor Documentation

◆ StateOrControlErrorResidual() [1/4]

◆ StateOrControlErrorResidual() [2/4]

◆ StateOrControlErrorResidual() [3/4]

◆ StateOrControlErrorResidual() [4/4]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ evaluate()

◆ computeJacobians()

◆ validate()

Member Data Documentation

◆ space_

◆ target_