Quadratic composite of an underlying function. More...

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

Inheritance diagram for aligator::QuadraticResidualCostTpl< _Scalar >:

Collaboration diagram for aligator::QuadraticResidualCostTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = CostAbstractTpl<Scalar>
using	CostData = CostDataAbstractTpl<Scalar>
using	Data = CompositeCostDataTpl<Scalar>
using	StageFunction = StageFunctionTpl<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)
	QuadraticResidualCostTpl (xyz::polymorphic< Manifold > space, xyz::polymorphic< StageFunction > function, const ConstMatrixRef &weights)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data_) const
	Evaluate the cost function.
void	computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data_) const
	Compute the cost gradients \((\ell_x, \ell_u)\).
void	computeHessians (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data_) const
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
shared_ptr< CostData >	createData () const
template<typename Derived>
Derived *	getResidual ()
	Get a pointer to the underlying type of the residual, by attempting to cast.
template<typename Derived>
const Derived *	getResidual () const
	Get a pointer to the underlying type of the residual, by attempting to cast.
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
MatrixXs	weights_
xyz::polymorphic< StageFunction >	residual_
bool	gauss_newton = true
Public Attributes inherited from aligator::CostAbstractTpl< _Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

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

Quadratic composite of an underlying function.

This is defined as

\[ c(x, u) \overset{\triangle}{=} \frac{1}{2} \|r(x, u)\|_W^2. \]

Definition at line 18 of file quad-residual-cost.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

Definition at line 19 of file quad-residual-cost.hpp.

◆ Base

template<typename _Scalar>

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

Definition at line 21 of file quad-residual-cost.hpp.

◆ CostData

template<typename _Scalar>

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

Definition at line 22 of file quad-residual-cost.hpp.

◆ Data

template<typename _Scalar>

using aligator::QuadraticResidualCostTpl< _Scalar >::Data = CompositeCostDataTpl<Scalar>

Definition at line 23 of file quad-residual-cost.hpp.

◆ StageFunction

template<typename _Scalar>

using aligator::QuadraticResidualCostTpl< _Scalar >::StageFunction = StageFunctionTpl<Scalar>

Definition at line 24 of file quad-residual-cost.hpp.

◆ Manifold

template<typename _Scalar>

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

Definition at line 25 of file quad-residual-cost.hpp.

Constructor & Destructor Documentation

◆ QuadraticResidualCostTpl()

template<typename _Scalar>

aligator::QuadraticResidualCostTpl< _Scalar >::QuadraticResidualCostTpl	(	xyz::polymorphic< Manifold >	space,
		xyz::polymorphic< StageFunction >	function,
		const ConstMatrixRef &	weights )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::QuadraticResidualCostTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ evaluate()

template<typename _Scalar>

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

virtual

Evaluate the cost function.

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

◆ computeGradients()

template<typename _Scalar>

void aligator::QuadraticResidualCostTpl< _Scalar >::computeGradients	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		CostData &	data ) const

virtual

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

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

◆ computeHessians()

template<typename _Scalar>

void aligator::QuadraticResidualCostTpl< _Scalar >::computeHessians	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		CostData &	data ) const

virtual

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

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

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

inlinevirtual

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 44 of file quad-residual-cost.hpp.

◆ getResidual() [1/2]

template<typename _Scalar>

template<typename Derived>

Derived * aligator::QuadraticResidualCostTpl< _Scalar >::getResidual ( )

inline

Get a pointer to the underlying type of the residual, by attempting to cast.

Definition at line 51 of file quad-residual-cost.hpp.

◆ getResidual() [2/2]

template<typename _Scalar>

template<typename Derived>

const Derived * aligator::QuadraticResidualCostTpl< _Scalar >::getResidual ( ) const

inline

Get a pointer to the underlying type of the residual, by attempting to cast.

Definition at line 56 of file quad-residual-cost.hpp.

Member Data Documentation

◆ weights_

template<typename _Scalar>

MatrixXs aligator::QuadraticResidualCostTpl< _Scalar >::weights_

Definition at line 27 of file quad-residual-cost.hpp.

◆ residual_

template<typename _Scalar>

xyz::polymorphic<StageFunction> aligator::QuadraticResidualCostTpl< _Scalar >::residual_

Definition at line 28 of file quad-residual-cost.hpp.

◆ gauss_newton

template<typename _Scalar>

bool aligator::QuadraticResidualCostTpl< _Scalar >::gauss_newton = true

Definition at line 29 of file quad-residual-cost.hpp.

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

include/aligator/modelling/costs/quad-residual-cost.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ CostData

◆ Data

◆ StageFunction

◆ Manifold

Constructor & Destructor Documentation

◆ QuadraticResidualCostTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ evaluate()

◆ computeGradients()

◆ computeHessians()

◆ createData()

◆ getResidual() [1/2]

◆ getResidual() [2/2]

Member Data Documentation

◆ weights_

◆ residual_

◆ gauss_newton