Public Types | Public Member Functions | List of all members
corbo::BaseQuadraticFinalStateCost Class Referenceabstract

#include <final_state_cost.h>

Inheritance diagram for corbo::BaseQuadraticFinalStateCost:
Inheritance graph
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Public Types

using ConstPtr = std::shared_ptr< const BaseQuadraticFinalStateCost >
 
using Ptr = std::shared_ptr< BaseQuadraticFinalStateCost >
 
- Public Types inherited from corbo::FinalStageCost
using ConstPtr = std::shared_ptr< const FinalStageCost >
 
using Ptr = std::shared_ptr< FinalStageCost >
 
- Public Types inherited from corbo::StageFunction
using ConstPtr = std::shared_ptr< const StageFunction >
 
using Ptr = std::shared_ptr< StageFunction >
 

Public Member Functions

virtual const Eigen::MatrixXd & getWeightQf () const =0
 
- Public Member Functions inherited from corbo::FinalStageCost
void computeNonIntegralStateTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override=0
 
virtual Ptr getInstance () const =0
 Return a newly created shared instance of the implemented class. More...
 
int getNonIntegralStateTermDimension (int k) const override=0
 
bool hasIntegralTerms (int k) const final
 
bool hasNonIntegralTerms (int k) const final
 
- Public Member Functions inherited from corbo::StageFunction
virtual bool checkParameters (int state_dim, int control_dim, std::stringstream *issues) const
 
virtual void computeConcatenatedNonIntegralStateControlTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const
 
virtual void computeConcatenatedNonIntegralStateTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const
 
virtual void computeNonIntegralStateDtTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost) const
 computeNonIntegralStateDtTerm: warning: currently only supported for full discretization More...
 
virtual int getConcatenatedNonIntegralStateControlTermDimension (int k, bool lsq_mode=false) const
 
virtual int getConcatenatedNonIntegralStateTermDimension (int k, bool lsq_mode=false) const
 
virtual int getNonIntegralStateDtTermDimension (int k) const
 
virtual bool isLinearNonIntegralControlTerm (int k) const
 
virtual bool isLinearNonIntegralDtTerm (int k) const
 
virtual bool isLinearNonIntegralStateTerm (int k) const
 
virtual bool isLsqFormNonIntegralControlTerm (int k) const
 
virtual bool isLsqFormNonIntegralDtTerm (int k) const
 
virtual bool isLsqFormNonIntegralStateTerm (int k) const
 
virtual bool update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface *sref, bool single_dt, const Eigen::VectorXd &x0, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface *grid)
 
virtual ~StageFunction ()=default
 Default destructor. More...
 

Detailed Description

Definition at line 38 of file final_state_cost.h.

Member Typedef Documentation

◆ ConstPtr

Definition at line 42 of file final_state_cost.h.

◆ Ptr

Definition at line 41 of file final_state_cost.h.

Member Function Documentation

◆ getWeightQf()

virtual const Eigen::MatrixXd& corbo::BaseQuadraticFinalStateCost::getWeightQf ( ) const
pure virtual

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


control_box_rst
Author(s): Christoph Rösmann
autogenerated on Mon Feb 28 2022 22:08:02