aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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traj-opt-data.hpp
Go to the documentation of this file.
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#pragma once
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#include "
aligator/context.hpp
"
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namespace
aligator
{
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template
<
typename
_Scalar>
struct
TrajOptDataTpl
{
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using
Scalar
= _Scalar;
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ALIGATOR_DYNAMIC_TYPEDEFS
(
Scalar
);
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using
StageFunctionData
=
StageFunctionDataTpl<Scalar>
;
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using
StageData
=
StageDataTpl<Scalar>
;
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using
CostData
=
CostDataAbstractTpl<Scalar>
;
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Scalar
cost_
= 0.;
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shared_ptr<StageFunctionData>
init_data
;
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std::vector<shared_ptr<StageData>>
stage_data
;
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shared_ptr<CostData>
term_cost_data
;
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std::vector<shared_ptr<StageFunctionData>>
term_cstr_data
;
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inline
std::size_t
numSteps
()
const
{
return
stage_data
.size(); }
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TrajOptDataTpl
() =
default
;
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TrajOptDataTpl
(
const
TrajOptProblemTpl<Scalar>
&problem);
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};
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template
<
typename
Scalar>
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Scalar
computeTrajectoryCost
(
const
TrajOptDataTpl<Scalar>
&problem_data);
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#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
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extern
template
struct
TrajOptDataTpl<context::Scalar>
;
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extern
template
context::Scalar
computeTrajectoryCost<context::Scalar>
(
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const
context::TrajOptData
&problem_data);
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#endif
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}
// namespace aligator
context.hpp
aligator::context::Scalar
double Scalar
Definition
context.hpp:9
aligator::context::TrajOptData
TrajOptDataTpl< Scalar > TrajOptData
Definition
context.hpp:36
aligator
Main package namespace.
Definition
action-model-wrap.hpp:14
aligator::computeTrajectoryCost
Scalar computeTrajectoryCost(const TrajOptDataTpl< Scalar > &problem_data)
Helper for computing the trajectory cost (from pre-computed problem data).
aligator::CostDataAbstractTpl
Data struct for CostAbstractTpl.
Definition
cost-abstract.hpp:73
aligator::StageDataTpl
Data struct for stage models StageModelTpl.
Definition
stage-data.hpp:10
aligator::StageFunctionDataTpl
Base struct for function data.
Definition
function-abstract.hpp:73
aligator::TrajOptDataTpl
Problem data struct.
Definition
traj-opt-data.hpp:10
aligator::TrajOptDataTpl< Scalar >::Scalar
Scalar Scalar
Definition
traj-opt-data.hpp:11
aligator::TrajOptDataTpl< Scalar >::cost_
Scalar cost_
Definition
traj-opt-data.hpp:18
aligator::TrajOptDataTpl< Scalar >::StageFunctionData
StageFunctionDataTpl< Scalar > StageFunctionData
Definition
traj-opt-data.hpp:13
aligator::TrajOptDataTpl::TrajOptDataTpl
TrajOptDataTpl(const TrajOptProblemTpl< Scalar > &problem)
aligator::TrajOptDataTpl< Scalar >::CostData
CostDataAbstractTpl< Scalar > CostData
Definition
traj-opt-data.hpp:15
aligator::TrajOptDataTpl< Scalar >::term_cstr_data
std::vector< shared_ptr< StageFunctionData > > term_cstr_data
Definition
traj-opt-data.hpp:27
aligator::TrajOptDataTpl< Scalar >::term_cost_data
shared_ptr< CostData > term_cost_data
Definition
traj-opt-data.hpp:25
aligator::TrajOptDataTpl< Scalar >::stage_data
std::vector< shared_ptr< StageData > > stage_data
Definition
traj-opt-data.hpp:23
aligator::TrajOptDataTpl::ALIGATOR_DYNAMIC_TYPEDEFS
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
aligator::TrajOptDataTpl::numSteps
std::size_t numSteps() const
Definition
traj-opt-data.hpp:29
aligator::TrajOptDataTpl< Scalar >::init_data
shared_ptr< StageFunctionData > init_data
Definition
traj-opt-data.hpp:21
aligator::TrajOptDataTpl::TrajOptDataTpl
TrajOptDataTpl()=default
aligator::TrajOptDataTpl< Scalar >::StageData
StageDataTpl< Scalar > StageData
Definition
traj-opt-data.hpp:14
aligator::TrajOptProblemTpl
Trajectory optimization problem.
Definition
traj-opt-problem.hpp:102
include
aligator
core
traj-opt-data.hpp
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