aligator::QuadraticStateCostTpl< Scalar > Struct Template Reference

Quadratic distance cost over the state manifold. More...

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

Inheritance diagram for aligator::QuadraticStateCostTpl< Scalar >:

Collaboration diagram for aligator::QuadraticStateCostTpl< Scalar >:

Public Types
using	Base = QuadraticResidualCostTpl<Scalar>
using	StateError = StateErrorResidualTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>
using	StageFunction = StageFunctionTpl<Scalar>
Public Types inherited from aligator::QuadraticResidualCostTpl< Scalar >
using	Scalar
using	Base
using	CostData
using	Data
using	StageFunction
using	Manifold
Public Types inherited from aligator::CostAbstractTpl< Scalar >
using	Scalar
using	CostData
using	Manifold
using	Scalar
using	CostData
using	Manifold

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	QuadraticStateCostTpl (const StateError &resdl, const MatrixXs &weights)
	QuadraticStateCostTpl (xyz::polymorphic< Manifold > space, const int nu, const ConstVectorRef &target, const MatrixXs &weights)
template<typename U, typename = std::enable_if_t<!is_polymorphic_of_v<Manifold, U>>>
	QuadraticStateCostTpl (U &&space, const int nu, const ConstVectorRef &target, const MatrixXs &weights)
void	setTarget (const ConstVectorRef target)
ConstVectorRef	getTarget () const
Public Member Functions inherited from aligator::QuadraticResidualCostTpl< Scalar >
	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
Derived *	getResidual ()
	Get a pointer to the underlying type of the residual, by attempting to cast.
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
	CostAbstractTpl (U &&space, const int nu)
virtual	~CostAbstractTpl ()=default
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
int	nx () const
int	ndx () const
	CostAbstractTpl (U &&space, const int nu)
virtual	~CostAbstractTpl ()=default

Protected Member Functions
StateError &	residual ()
const StateError &	residual () const

Additional Inherited Members
Public Attributes inherited from aligator::QuadraticResidualCostTpl< Scalar >
MatrixXs	weights_
xyz::polymorphic< StageFunction >	residual_
bool	gauss_newton
Public Attributes inherited from aligator::CostAbstractTpl< Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.
int	nu
	Control dimension.
xyz::polymorphic< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

template<typename Scalar>
struct aligator::QuadraticStateCostTpl< Scalar >

Quadratic distance cost over the state manifold.

Definition at line 13 of file quad-state-cost.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

using aligator::QuadraticStateCostTpl< Scalar >::Base = QuadraticResidualCostTpl<Scalar>

Definition at line 15 of file quad-state-cost.hpp.

StateError

template<typename Scalar>

using aligator::QuadraticStateCostTpl< Scalar >::StateError = StateErrorResidualTpl<Scalar>

Definition at line 16 of file quad-state-cost.hpp.

Manifold

template<typename Scalar>

using aligator::QuadraticStateCostTpl< Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 17 of file quad-state-cost.hpp.

StageFunction

template<typename Scalar>

using aligator::QuadraticStateCostTpl< Scalar >::StageFunction = StageFunctionTpl<Scalar>

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

Constructor & Destructor Documentation

QuadraticStateCostTpl() [1/3]

template<typename Scalar>

aligator::QuadraticStateCostTpl< Scalar >::QuadraticStateCostTpl ( const StateError & resdl, const MatrixXs & weights )

inline

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

QuadraticStateCostTpl() [2/3]

template<typename Scalar>

aligator::QuadraticStateCostTpl< Scalar >::QuadraticStateCostTpl ( xyz::polymorphic< Manifold > space, const int nu, const ConstVectorRef & target, const MatrixXs & weights )

inline

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

QuadraticStateCostTpl() [3/3]

template<typename Scalar>

template<typename U, typename = std::enable_if_t<!is_polymorphic_of_v<Manifold, U>>>

aligator::QuadraticStateCostTpl< Scalar >::QuadraticStateCostTpl ( U && space, const int nu, const ConstVectorRef & target, const MatrixXs & weights )

inline

Definition at line 31 of file quad-state-cost.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

aligator::QuadraticStateCostTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

setTarget()

template<typename Scalar>

void aligator::QuadraticStateCostTpl< Scalar >::setTarget ( const ConstVectorRef target )

inline

Definition at line 36 of file quad-state-cost.hpp.

getTarget()

template<typename Scalar>

ConstVectorRef aligator::QuadraticStateCostTpl< Scalar >::getTarget ( ) const

inline

Definition at line 37 of file quad-state-cost.hpp.

residual() [1/2]

template<typename Scalar>

StateError & aligator::QuadraticStateCostTpl< Scalar >::residual ( )

inlineprotected

Definition at line 40 of file quad-state-cost.hpp.

residual() [2/2]

template<typename Scalar>

const StateError & aligator::QuadraticStateCostTpl< Scalar >::residual ( ) const

inlineprotected

Definition at line 41 of file quad-state-cost.hpp.

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

• include/aligator/modelling/costs/quad-state-cost.hpp