aligator::ConstantCostTpl< _Scalar > Struct Template Reference

Constant cost. More...

#include <aligator/modelling/costs/constant-cost.hpp>

Inheritance diagram for aligator::ConstantCostTpl< _Scalar >:

Collaboration diagram for aligator::ConstantCostTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = CostAbstractTpl<Scalar>
using	CostData = CostDataAbstractTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<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)
	ConstantCostTpl (xyz::polymorphic< Manifold > space, const int nu, const Scalar value)
void	evaluate (const ConstVectorRef &, const ConstVectorRef &, CostData &data) const override
	Evaluate the cost function.
void	computeGradients (const ConstVectorRef &, const ConstVectorRef &, CostData &) const override
	Compute the cost gradients \((\ell_x, \ell_u)\).
void	computeHessians (const ConstVectorRef &, const ConstVectorRef &, CostData &) const override
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
shared_ptr< CostData >	createData () const override
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

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

Detailed Description

template<typename _Scalar>
struct aligator::ConstantCostTpl< _Scalar >

Constant cost.

Definition at line 8 of file constant-cost.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::ConstantCostTpl< _Scalar >::Scalar = _Scalar

Definition at line 9 of file constant-cost.hpp.

Base

template<typename _Scalar>

using aligator::ConstantCostTpl< _Scalar >::Base = CostAbstractTpl<Scalar>

Definition at line 11 of file constant-cost.hpp.

CostData

template<typename _Scalar>

using aligator::ConstantCostTpl< _Scalar >::CostData = CostDataAbstractTpl<Scalar>

Definition at line 12 of file constant-cost.hpp.

Manifold

template<typename _Scalar>

using aligator::ConstantCostTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 13 of file constant-cost.hpp.

Constructor & Destructor Documentation

ConstantCostTpl()

template<typename _Scalar>

aligator::ConstantCostTpl< _Scalar >::ConstantCostTpl ( xyz::polymorphic< Manifold > space, const int nu, const Scalar value )

inline

Definition at line 16 of file constant-cost.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::ConstantCostTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar>

void aligator::ConstantCostTpl< _Scalar >::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 constant-cost.hpp.

computeGradients()

template<typename _Scalar>

void aligator::ConstantCostTpl< _Scalar >::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 constant-cost.hpp.

computeHessians()

template<typename _Scalar>

void aligator::ConstantCostTpl< _Scalar >::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 28 of file constant-cost.hpp.

createData()

template<typename _Scalar>

shared_ptr< CostData > aligator::ConstantCostTpl< _Scalar >::createData ( ) const

inlineoverridevirtual

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 31 of file constant-cost.hpp.

Member Data Documentation

value_

template<typename _Scalar>

Scalar aligator::ConstantCostTpl< _Scalar >::value_

Definition at line 15 of file constant-cost.hpp.

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

• include/aligator/modelling/costs/constant-cost.hpp