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
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
Public Member Functions inherited from aligator::python::PolymorphicWrapper< PyStageFunction< context::StageFunction >, context::StageFunction >
	PolymorphicWrapper ()=default
PolymorphicWrapper &	operator= (const PolymorphicWrapper &o)

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.

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