aligator::LinearFunctionTpl< Scalar > Struct Template Reference

Linear function \(f(x,u,y) = Ax + Bu + Cy + d\). More...

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

Inheritance diagram for aligator::LinearFunctionTpl< Scalar >:

Collaboration diagram for aligator::LinearFunctionTpl< Scalar >:

Public Types
using	Base = StageFunctionTpl<Scalar>
using	Data = StageFunctionDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< Scalar >
using	Scalar
using	Data

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	LinearFunctionTpl (const int ndx, const int nu, const int nr)
	LinearFunctionTpl (const ConstMatrixRef A, const ConstMatrixRef B, const ConstVectorRef d)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
	Compute Jacobians of this function.
virtual shared_ptr< Data >	createData () const override
	Instantiate a Data object.
Public Member Functions inherited from aligator::StageFunctionTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default

Public Attributes
MatrixXs	A_
MatrixXs	B_
VectorXs	d_
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<typename Scalar>
struct aligator::LinearFunctionTpl< Scalar >

Linear function \(f(x,u,y) = Ax + Bu + Cy + d\).

Definition at line 9 of file linear-function.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

using aligator::LinearFunctionTpl< Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 12 of file linear-function.hpp.

Data

template<typename Scalar>

using aligator::LinearFunctionTpl< Scalar >::Data = StageFunctionDataTpl<Scalar>

Definition at line 13 of file linear-function.hpp.

Constructor & Destructor Documentation

LinearFunctionTpl() [1/2]

template<typename Scalar>

aligator::LinearFunctionTpl< Scalar >::LinearFunctionTpl	(	const int	ndx,
		const int	nu,
		const int	nr )

Definition at line 53 of file linear-function.hpp.

LinearFunctionTpl() [2/2]

template<typename Scalar>

aligator::LinearFunctionTpl< Scalar >::LinearFunctionTpl	(	const ConstMatrixRef	A,
		const ConstMatrixRef	B,
		const ConstVectorRef	d )

Definition at line 65 of file linear-function.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW aligator::LinearFunctionTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename Scalar>

void aligator::LinearFunctionTpl< Scalar >::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 24 of file linear-function.hpp.

computeJacobians()

template<typename Scalar>

void aligator::LinearFunctionTpl< Scalar >::computeJacobians ( const ConstVectorRef & , const ConstVectorRef & , Data & data ) const

inlineoverridevirtual

Compute Jacobians of this function.

This implementation does nothing: the values of the Jacobians are already set in createData().

Implements aligator::StageFunctionTpl< Scalar >.

Definition at line 36 of file linear-function.hpp.

createData()

template<typename Scalar>

virtual shared_ptr< Data > aligator::LinearFunctionTpl< Scalar >::createData ( ) const

inlineoverridevirtual

Instantiate a Data object.

This override sets the appropriate values of the Jacobians.

Reimplemented from aligator::StageFunctionTpl< Scalar >.

Definition at line 44 of file linear-function.hpp.

Member Data Documentation

A_

template<typename Scalar>

MatrixXs aligator::LinearFunctionTpl< Scalar >::A_

Definition at line 15 of file linear-function.hpp.

B_

template<typename Scalar>

MatrixXs aligator::LinearFunctionTpl< Scalar >::B_

Definition at line 16 of file linear-function.hpp.

d_

template<typename Scalar>

VectorXs aligator::LinearFunctionTpl< Scalar >::d_

Definition at line 17 of file linear-function.hpp.

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

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