aligator::python::PyCostFunction Struct Reference

Wrapper for the CostDataAbstractTpl class and its children. More...

#include </home/runner/work/aligator/aligator/bindings/python/include/aligator/python/costs.hpp>

Inheritance diagram for aligator::python::PyCostFunction:

Collaboration diagram for aligator::python::PyCostFunction:

Public Types
using	Scalar = context::Scalar
using	T = context::CostAbstract
using	CostData = CostDataAbstractTpl<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)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const override
	Evaluate the cost function.
void	computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const override
	Compute the cost gradients \((\ell_x, \ell_u)\).
void	computeHessians (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const override
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
shared_ptr< CostData >	createData () const override
shared_ptr< CostData >	default_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

Additional Inherited Members
Public Attributes inherited from aligator::CostAbstractTpl< Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

Wrapper for the CostDataAbstractTpl class and its children.

Definition at line 10 of file costs.hpp.

Member Typedef Documentation

Scalar

using aligator::python::PyCostFunction::Scalar = context::Scalar

Definition at line 14 of file costs.hpp.

T

using aligator::python::PyCostFunction::T = context::CostAbstract

Definition at line 15 of file costs.hpp.

CostData

using aligator::python::PyCostFunction::CostData = CostDataAbstractTpl<Scalar>

Definition at line 16 of file costs.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

aligator::python::PyCostFunction::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

void aligator::python::PyCostFunction::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

inlineoverridevirtual

Evaluate the cost function.

Reimplemented from aligator::CostAbstractTpl< Scalar >.

Definition at line 20 of file costs.hpp.

computeGradients()

void aligator::python::PyCostFunction::computeGradients ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

inlineoverridevirtual

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

Reimplemented from aligator::CostAbstractTpl< Scalar >.

Definition at line 25 of file costs.hpp.

computeHessians()

void aligator::python::PyCostFunction::computeHessians ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

inlineoverridevirtual

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

Reimplemented from aligator::CostAbstractTpl< Scalar >.

Definition at line 31 of file costs.hpp.

createData()

shared_ptr< CostData > aligator::python::PyCostFunction::createData ( ) const

inlineoverridevirtual

Reimplemented from aligator::CostAbstractTpl< Scalar >.

Definition at line 37 of file costs.hpp.

default_createData()

shared_ptr< CostData > aligator::python::PyCostFunction::default_createData ( ) const

inline

Definition at line 41 of file costs.hpp.

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

• bindings/python/include/aligator/python/costs.hpp