tuw::OptimizationState Class Reference

#include <trajectory_optimizer.h>

Inheritance diagram for tuw::OptimizationState:

Public Member Functions
virtual void	fromTrajState (const TrajectorySimulator &_trajSim)=0
OptimizationState &	operator= (const OptimizationState &)=default
OptimizationState &	operator= (OptimizationState &&)=default
	OptimizationState ()=default
	OptimizationState (const OptimizationState &)=default
	OptimizationState (OptimizationState &&)=default
virtual void	toTrajState (TrajectorySimulator &_trajSim)=0
double &	value (const std::size_t &_i) override
	Access state variable based on index _i. More...
const double &	value (const std::size_t &_i) const override
	Const access state variable based on index _i. More...
size_t	valueSize () const override
	Size of the state variables. More...
	~OptimizationState ()=default
Public Member Functions inherited from tuw::State
virtual StateSPtr	cloneState () const =0
	Clone-to-base-class-ptr function. More...
void	fromEIGENVec (const Eigen::VectorXd &_vec)
	Copies all values from an Eigen vector. The valueSize of the State object has to be equal with the Eigen vector size. More...
void	fromSTLVec (const std::vector< double > &_vec)
	Copies all values from an STL vector. The valueSize of the State object has to be equal with the STL vector size. More...
State &	operator= (const State &)=default
State &	operator= (State &&)=default
virtual void	resize (const size_t &_i)
	Resizes the array. More...
	State (State *_parent)
	State ()
	State (const State &)=default
	State (State &&)=default
virtual StateSPtr &	state (const std::size_t &_i)
	Access sub-state based on index _i. More...
virtual size_t	stateSize () const
	Size of the sub-states. More...
void	toEIGENVec (Eigen::VectorXd &_vec)
	Converts all the array values to an Eigen vector. More...
void	toSTLVec (std::vector< double > &_vec)
	Converts all the array values to an STL vector. More...
virtual void	updateSize ()
	Performs internal manipulation when any of the underlying arrays are being resized. More...
virtual	~State ()=default

Protected Attributes
std::vector< double >	vars
Protected Attributes inherited from tuw::State
State *	parent_
	Pointer to the parent State structure. More...

Static Protected Attributes
static constexpr const double	valueZero = 0

Additional Inherited Members
Static Public Member Functions inherited from tuw::State
static std::vector< double > &	minus (State &_lhs, State &_rhs, std::vector< double > &_ans)
	Performs substraction. Left and right operand are required to have the same valueSize. More...
static Eigen::VectorXd &	minus (State &_lhs, State &_rhs, Eigen::VectorXd &_ans)
	Performs substraction. Left and right operand are required to have the same valueSize. More...
static State &	minus (State &_lhs, State &_rhs, State &_ans)
	Performs substraction. Answer variable, left operand and right operand are required to have the same valueSize. More...
static std::vector< double > &	plus (State &_lhs, State &_rhs, std::vector< double > &_ans)
	Performs addition. Left and right operand are required to have the same valueSize. More...
static Eigen::VectorXd &	plus (State &_lhs, State &_rhs, Eigen::VectorXd &_ans)
	Performs addition. Left and right operand are required to have the same valueSize. More...
static State &	plus (State &_lhs, State &_rhs, State &_ans)
	Performs addition. Answer variable, left operand and right operand are required to have the same valueSize. More...
Protected Member Functions inherited from tuw::State
void	callRootUpdateSize ()
	Calls (if present) the parent updateSize procedure. Otherwise performs root updateSize. More...

Detailed Description

Definition at line 49 of file trajectory_optimizer.h.

Constructor & Destructor Documentation

tuw::OptimizationState::OptimizationState ( )

default

tuw::OptimizationState::~OptimizationState ( )

default

tuw::OptimizationState::OptimizationState ( const OptimizationState &  )

default

tuw::OptimizationState::OptimizationState ( OptimizationState &&  )

default

Member Function Documentation

virtual void tuw::OptimizationState::fromTrajState ( const TrajectorySimulator &  _trajSim )

pure virtual

OptimizationState& tuw::OptimizationState::operator= ( const OptimizationState &  )

default

OptimizationState& tuw::OptimizationState::operator= ( OptimizationState &&  )

default

virtual void tuw::OptimizationState::toTrajState ( TrajectorySimulator &  _trajSim )

pure virtual

double& tuw::OptimizationState::value ( const std::size_t &  _i )

inlineoverridevirtual

Access state variable based on index _i.

Implements tuw::State.

Definition at line 76 of file trajectory_optimizer.h.

const double& tuw::OptimizationState::value ( const std::size_t &  _i ) const

inlineoverridevirtual

Const access state variable based on index _i.

Implements tuw::State.

Definition at line 82 of file trajectory_optimizer.h.

size_t tuw::OptimizationState::valueSize ( ) const

inlineoverridevirtual

Size of the state variables.

Implements tuw::State.

Definition at line 88 of file trajectory_optimizer.h.

Member Data Documentation

constexpr const double tuw::OptimizationState::valueZero = 0

staticprotected

Definition at line 97 of file trajectory_optimizer.h.

std::vector<double> tuw::OptimizationState::vars

protected

Definition at line 94 of file trajectory_optimizer.h.

---

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

• trajectory_optimizer.h