aligator::python::PyStageFunction< FunctionBase > Struct Template Reference

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

Inheritance diagram for aligator::python::PyStageFunction< FunctionBase >:

Collaboration diagram for aligator::python::PyStageFunction< FunctionBase >:

Public Types
using	Scalar = typename FunctionBase::Scalar
using	Data = StageFunctionDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< Scalar >
using	Scalar
using	Data
using	Scalar
using	Data
Public Types inherited from aligator::python::PolymorphicWrapper< PyStageFunction< context::StageFunction >, context::StageFunction >
using	PyBase
using	Base

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const override
	Compute Jacobians of this function.
void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const override
	Compute the vector-hessian products of this function.
shared_ptr< Data >	createData () const override
	Instantiate a Data object.
shared_ptr< Data >	default_createData () const
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
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual	~StageFunctionTpl ()=default
Public Member Functions inherited from aligator::python::PolymorphicWrapper< PyStageFunction< context::StageFunction >, context::StageFunction >
	PolymorphicWrapper ()=default
	PolymorphicWrapper (const PolymorphicWrapper &o)
	PolymorphicWrapper (PolymorphicWrapper &&o)=default
PolymorphicWrapper &	operator= (const PolymorphicWrapper &o)
PolymorphicWrapper &	operator= (PolymorphicWrapper &&o)=default

Additional Inherited Members
Public Attributes inherited from aligator::StageFunctionTpl< Scalar >
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.

Detailed Description

template<class FunctionBase = context::StageFunction>
struct aligator::python::PyStageFunction< FunctionBase >

Wrapper for the StageFunction class and any virtual children that avoids having to redeclare Python overrides for these children.

This implements the "trampoline" technique from Pybind11's docs: https://pybind11.readthedocs.io/en/stable/advanced/classes.html#combining-virtual-functions-and-inheritance

Template Parameters

FunctionBase

The virtual class to expose.

Definition at line 23 of file functions.hpp.

Member Typedef Documentation

Scalar

template<class FunctionBase = context::StageFunction>

using aligator::python::PyStageFunction< FunctionBase >::Scalar = typename FunctionBase::Scalar

Definition at line 26 of file functions.hpp.

Data

template<class FunctionBase = context::StageFunction>

using aligator::python::PyStageFunction< FunctionBase >::Data = StageFunctionDataTpl<Scalar>

Definition at line 27 of file functions.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<class FunctionBase = context::StageFunction>

aligator::python::PyStageFunction< FunctionBase >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<class FunctionBase = context::StageFunction>

void aligator::python::PyStageFunction< FunctionBase >::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 31 of file functions.hpp.

computeJacobians()

template<class FunctionBase = context::StageFunction>

void aligator::python::PyStageFunction< FunctionBase >::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 36 of file functions.hpp.

computeVectorHessianProducts()

template<class FunctionBase = context::StageFunction>

void aligator::python::PyStageFunction< FunctionBase >::computeVectorHessianProducts ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & lbda, Data & data ) const

inlineoverridevirtual

Compute the vector-hessian products of this function.

Parameters

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

Reimplemented from aligator::StageFunctionTpl< Scalar >.

Definition at line 42 of file functions.hpp.

createData()

template<class FunctionBase = context::StageFunction>

shared_ptr< Data > aligator::python::PyStageFunction< FunctionBase >::createData ( ) const

inlineoverridevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< Scalar >.

Definition at line 50 of file functions.hpp.

default_createData()

template<class FunctionBase = context::StageFunction>

shared_ptr< Data > aligator::python::PyStageFunction< FunctionBase >::default_createData ( ) const

inline

Definition at line 54 of file functions.hpp.

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

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