Pure state residual. More...

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

Inheritance diagram for aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >:

Collaboration diagram for aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >:

Public Types
using	Scalar = _Scalar

using	Data = StageFunctionDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

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

using	PolyManifold = xyz::polymorphic<Manifold>

using	Scalar

using	Base

using	Data

using	Manifold

using	VectorSpace

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

using	Data = StageFunctionDataTpl<Scalar>

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

using	Base = StageFunctionTpl<Scalar>

using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	ALIGATOR_UNARY_FUNCTION_INTERFACE (Scalar)

	StateOrControlErrorResidual (const PolyManifold &xspace, const int nu, const ConstVectorRef &target)

template<typename U, typename std::enable_if_t< is_polymorphic_of_v< Manifold, U >, int > = 0>
	StateOrControlErrorResidual (U &&xspace, const int nu, const ConstVectorRef &target)

void	evaluate (const ConstVectorRef &x, Data &data) const override

void	computeJacobians (const ConstVectorRef &x, Data &data) const override

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	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	~StageFunctionTpl ()=default

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

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

virtual void	computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const

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

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

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

Public Attributes
PolyManifold	space_

VectorXs	target_

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

void	validate () const

Detailed Description

template<typename _Scalar>
struct aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >

Pure state residual.

Definition at line 21 of file state-error.hpp.

Member Typedef Documentation

◆ Scalar [1/2]

template<typename _Scalar>

using aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::Scalar = _Scalar

Definition at line 22 of file state-error.hpp.

◆ Data [1/2]

template<typename _Scalar>

using aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::Data = StageFunctionDataTpl<Scalar>

Definition at line 25 of file state-error.hpp.

◆ Manifold [1/2]

template<typename _Scalar>

using aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 26 of file state-error.hpp.

◆ VectorSpace [1/2]

template<typename _Scalar>

using aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::VectorSpace = VectorSpaceTpl<Scalar, Eigen::Dynamic>

Definition at line 27 of file state-error.hpp.

◆ PolyManifold

template<typename _Scalar>

using aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::PolyManifold = xyz::polymorphic<Manifold>

Definition at line 28 of file state-error.hpp.

◆ Scalar [2/2]

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

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

◆ Base

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::Base

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

◆ Data [2/2]

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::Data

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

◆ Manifold [2/2]

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::Manifold

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

◆ VectorSpace [2/2]

using aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::VectorSpace

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

Constructor & Destructor Documentation

◆ StateOrControlErrorResidual() [1/6]

template<typename _Scalar>

aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::StateOrControlErrorResidual	(	const PolyManifold &	xspace,
		const int	nu,
		const ConstVectorRef &	target )

inline

Definition at line 33 of file state-error.hpp.

◆ StateOrControlErrorResidual() [2/6]

template<typename _Scalar>

template<typename U, typename std::enable_if_t< is_polymorphic_of_v< Manifold, U >, int > = 0>

aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::StateOrControlErrorResidual	(	U &&	xspace,
		const int	nu,
		const ConstVectorRef &	target )

inline

Definition at line 43 of file state-error.hpp.

◆ StateOrControlErrorResidual() [3/6]

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() [4/6]

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() [5/6]

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

inline

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

◆ StateOrControlErrorResidual() [6/6]

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() [1/2]

template<typename _Scalar>

aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()

template<typename _Scalar>

aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::ALIGATOR_UNARY_FUNCTION_INTERFACE ( Scalar )

◆ evaluate() [1/2]

template<typename _Scalar>

void aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::evaluate	(	const ConstVectorRef &	x,
		Data &	data ) const

inlineoverridevirtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

Definition at line 51 of file state-error.hpp.

◆ computeJacobians() [1/2]

template<typename _Scalar>

void aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::computeJacobians	(	const ConstVectorRef &	x,
		Data &	data ) const

inlineoverridevirtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

Definition at line 55 of file state-error.hpp.

◆ validate() [1/2]

template<typename _Scalar>

void aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::validate ( ) const

inlineprotected

Definition at line 60 of file state-error.hpp.

◆ ALIGATOR_DYNAMIC_TYPEDEFS() [2/2]

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

◆ evaluate() [2/2]

void aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::evaluate	(	const ConstVectorRef &	,
		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() [2/2]

void aligator::detail::StateOrControlErrorResidual< _Scalar, arg >::computeJacobians	(	const ConstVectorRef &	,
		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() [2/2]

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

inlineprotected

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

Member Data Documentation

◆ space_ [1/2]

template<typename _Scalar>

PolyManifold aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::space_

Definition at line 30 of file state-error.hpp.

◆ target_ [1/2]

template<typename _Scalar>

VectorXs aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >::target_

Definition at line 31 of file state-error.hpp.

◆ space_ [2/2]

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

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

◆ target_ [2/2]

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 [1/2]

◆ Data [1/2]

◆ Manifold [1/2]

◆ VectorSpace [1/2]

◆ PolyManifold

◆ Scalar [2/2]

◆ Base

◆ Data [2/2]

◆ Manifold [2/2]

◆ VectorSpace [2/2]

Constructor & Destructor Documentation

◆ StateOrControlErrorResidual() [1/6]

◆ StateOrControlErrorResidual() [2/6]

◆ StateOrControlErrorResidual() [3/6]

◆ StateOrControlErrorResidual() [4/6]

◆ StateOrControlErrorResidual() [5/6]

◆ StateOrControlErrorResidual() [6/6]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS() [1/2]

◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()

◆ evaluate() [1/2]

◆ computeJacobians() [1/2]

◆ validate() [1/2]

◆ ALIGATOR_DYNAMIC_TYPEDEFS() [2/2]

◆ evaluate() [2/2]

◆ computeJacobians() [2/2]

◆ validate() [2/2]

Member Data Documentation

◆ space_ [1/2]

◆ target_ [1/2]

◆ space_ [2/2]

◆ target_ [2/2]