aligator::DirectSumCostTpl< _Scalar > Struct Template Reference

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

Inheritance diagram for aligator::DirectSumCostTpl< _Scalar >:

Collaboration diagram for aligator::DirectSumCostTpl< _Scalar >:

Classes
struct	Data

Public Types
using	Scalar = _Scalar
using	BaseCost = CostAbstractTpl<Scalar>
using	BaseData = CostDataAbstractTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>
using	PolyCost = xyz::polymorphic<BaseCost>
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)
	DirectSumCostTpl (const PolyCost &c1, const PolyCost &c2)
shared_ptr< BaseData >	createData () const override
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Evaluate the cost function.
void	computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Compute the cost gradients \((\ell_x, \ell_u)\).
void	computeHessians (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
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
xyz::polymorphic< BaseCost >	c1_
xyz::polymorphic< BaseCost >	c2_
Public Attributes inherited from aligator::CostAbstractTpl< _Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

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

Definition at line 10 of file cost-direct-sum.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 11 of file cost-direct-sum.hpp.

BaseCost

template<typename _Scalar>

using aligator::DirectSumCostTpl< _Scalar >::BaseCost = CostAbstractTpl<Scalar>

Definition at line 13 of file cost-direct-sum.hpp.

BaseData

template<typename _Scalar>

using aligator::DirectSumCostTpl< _Scalar >::BaseData = CostDataAbstractTpl<Scalar>

Definition at line 14 of file cost-direct-sum.hpp.

Manifold

template<typename _Scalar>

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

Definition at line 15 of file cost-direct-sum.hpp.

PolyCost

template<typename _Scalar>

using aligator::DirectSumCostTpl< _Scalar >::PolyCost = xyz::polymorphic<BaseCost>

Definition at line 16 of file cost-direct-sum.hpp.

Constructor & Destructor Documentation

DirectSumCostTpl()

template<typename _Scalar>

aligator::DirectSumCostTpl< _Scalar >::DirectSumCostTpl ( const PolyCost & c1, const PolyCost & c2 )

inline

Definition at line 20 of file cost-direct-sum.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::DirectSumCostTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

createData()

template<typename Scalar>

auto aligator::DirectSumCostTpl< Scalar >::createData ( ) const

overridevirtual

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 122 of file cost-direct-sum.hpp.

evaluate()

template<typename Scalar>

void aligator::DirectSumCostTpl< Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

overridevirtual

Evaluate the cost function.

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 56 of file cost-direct-sum.hpp.

computeGradients()

template<typename Scalar>

void aligator::DirectSumCostTpl< Scalar >::computeGradients ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

overridevirtual

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

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 72 of file cost-direct-sum.hpp.

computeHessians()

template<typename Scalar>

void aligator::DirectSumCostTpl< Scalar >::computeHessians ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

overridevirtual

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

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 94 of file cost-direct-sum.hpp.

Member Data Documentation

c1_

template<typename _Scalar>

xyz::polymorphic<BaseCost> aligator::DirectSumCostTpl< _Scalar >::c1_

Definition at line 27 of file cost-direct-sum.hpp.

c2_

template<typename _Scalar>

xyz::polymorphic<BaseCost> aligator::DirectSumCostTpl< _Scalar >::c2_

Definition at line 27 of file cost-direct-sum.hpp.

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

• include/aligator/modelling/costs/cost-direct-sum.hpp