aligator::LinearFunctionCompositionTpl< _Scalar > Struct Template Reference

#include <aligator/modelling/linear-function-composition.hpp>

Inheritance diagram for aligator::LinearFunctionCompositionTpl< _Scalar >:

Collaboration diagram for aligator::LinearFunctionCompositionTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Impl = detail::linear_func_composition_impl<StageFunctionTpl<Scalar>>
using	Base = typename Impl::FunType
using	Data = typename Impl::Data
using	BaseData = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Compute Jacobians of this function.

Detailed Description

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

Definition at line 56 of file linear-function-composition.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 58 of file linear-function-composition.hpp.

Impl

template<typename _Scalar>

using aligator::LinearFunctionCompositionTpl< _Scalar >::Impl = detail::linear_func_composition_impl<StageFunctionTpl<Scalar>>

Definition at line 60 of file linear-function-composition.hpp.

Base

template<typename _Scalar>

using aligator::LinearFunctionCompositionTpl< _Scalar >::Base = typename Impl::FunType

Definition at line 61 of file linear-function-composition.hpp.

Data

template<typename _Scalar>

using aligator::LinearFunctionCompositionTpl< _Scalar >::Data = typename Impl::Data

Definition at line 62 of file linear-function-composition.hpp.

BaseData

template<typename _Scalar>

using aligator::LinearFunctionCompositionTpl< _Scalar >::BaseData = StageFunctionDataTpl<Scalar>

Definition at line 63 of file linear-function-composition.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::LinearFunctionCompositionTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar>

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

overridevirtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

computeJacobians()

template<typename _Scalar>

void aligator::LinearFunctionCompositionTpl< _Scalar >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

overridevirtual

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 >.

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

• include/aligator/modelling/linear-function-composition.hpp