#include <hybrid_cost.h>

Inheritance diagram for corbo::MinTimeQuadraticControls:

Public Member Functions
void	computeIntegralStateControlTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, Eigen::Ref< Eigen::VectorXd > cost) const override

void	computeNonIntegralControlTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &u_k, Eigen::Ref< Eigen::VectorXd > cost) const override

void	computeNonIntegralDtTerm (int k, double dt, Eigen::Ref< Eigen::VectorXd > cost) const override

StageCost::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

int	getIntegralStateControlTermDimension (int k) const override

int	getNonIntegralControlTermDimension (int k) const override

int	getNonIntegralDtTermDimension (int k) const override

bool	hasIntegralTerms (int k) const override

bool	hasNonIntegralTerms (int k) const override

bool	isLsqFormNonIntegralControlTerm (int k) const override

bool	isLsqFormNonIntegralDtTerm (int k) const override

	MinTimeQuadraticControls ()=default

	MinTimeQuadraticControls (const Eigen::Ref< const Eigen::MatrixXd > &R, bool integral_form, bool lsq_form=false)

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) override

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	computeNonIntegralControlDeviationTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &u_k, const Eigen::Ref< const Eigen::VectorXd > &u_prev, double dt_prev, Eigen::Ref< Eigen::VectorXd > cost) const

virtual void	computeNonIntegralStateControlDtTerm (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) const

virtual void	computeNonIntegralStateControlTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, Eigen::Ref< Eigen::VectorXd > cost) 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 void	computeNonIntegralStateTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const

virtual int	getConcatenatedNonIntegralStateControlTermDimension (int k, bool lsq_mode=false) const

virtual int	getConcatenatedNonIntegralStateTermDimension (int k, bool lsq_mode=false) const

virtual int	getNonIntegralControlDeviationTermDimension (int k) const

virtual int	getNonIntegralStateControlDtTermDimension (int k) const

virtual int	getNonIntegralStateControlTermDimension (int k) const

virtual int	getNonIntegralStateDtTermDimension (int k) const

virtual int	getNonIntegralStateTermDimension (int k) const

virtual bool	isLinearNonIntegralControlTerm (int k) const

virtual bool	isLinearNonIntegralDtTerm (int k) const

virtual bool	isLinearNonIntegralStateTerm (int k) const

virtual bool	isLsqFormNonIntegralStateTerm (int k) const

virtual	~StageFunction ()=default
	Default destructor. More...

Protected Attributes
MinimumTime	_min_time

QuadraticControlCost	_quad_control_cost

Additional Inherited Members
Public Types inherited from corbo::StageCost
using	ConstPtr = std::shared_ptr< const StageCost >

using	Ptr = std::shared_ptr< StageCost >

Public Types inherited from corbo::StageFunction
using	ConstPtr = std::shared_ptr< const StageFunction >

using	Ptr = std::shared_ptr< StageFunction >

Detailed Description

Definition at line 306 of file hybrid_cost.h.

Constructor & Destructor Documentation

◆ MinTimeQuadraticControls() [1/2]

corbo::MinTimeQuadraticControls::MinTimeQuadraticControls ( )

default

◆ MinTimeQuadraticControls() [2/2]

corbo::MinTimeQuadraticControls::MinTimeQuadraticControls	(	const Eigen::Ref< const Eigen::MatrixXd > &	R,
		bool	integral_form,
		bool	lsq_form = `false`
	)

inline

Definition at line 311 of file hybrid_cost.h.

Member Function Documentation

◆ computeIntegralStateControlTerm()

void corbo::MinTimeQuadraticControls::computeIntegralStateControlTerm	(	int	k,
		const Eigen::Ref< const Eigen::VectorXd > &	x_k,
		const Eigen::Ref< const Eigen::VectorXd > &	u_k,
		Eigen::Ref< Eigen::VectorXd >	cost
	)		const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 358 of file hybrid_cost.h.

◆ computeNonIntegralControlTerm()

void corbo::MinTimeQuadraticControls::computeNonIntegralControlTerm	(	int	k,
		const Eigen::Ref< const Eigen::VectorXd > &	u_k,
		Eigen::Ref< Eigen::VectorXd >	cost
	)		const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 353 of file hybrid_cost.h.

◆ computeNonIntegralDtTerm()

void corbo::MinTimeQuadraticControls::computeNonIntegralDtTerm	(	int	k,
		double	dt,
		Eigen::Ref< Eigen::VectorXd >	cost
	)		const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 348 of file hybrid_cost.h.

◆ getInstance()

StageCost::Ptr corbo::MinTimeQuadraticControls::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::StageCost.

Definition at line 319 of file hybrid_cost.h.

◆ getIntegralStateControlTermDimension()

int corbo::MinTimeQuadraticControls::getIntegralStateControlTermDimension ( int k ) const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 329 of file hybrid_cost.h.

◆ getNonIntegralControlTermDimension()

int corbo::MinTimeQuadraticControls::getNonIntegralControlTermDimension ( int k ) const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 328 of file hybrid_cost.h.

◆ getNonIntegralDtTermDimension()

int corbo::MinTimeQuadraticControls::getNonIntegralDtTermDimension ( int k ) const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 327 of file hybrid_cost.h.

◆ hasIntegralTerms()

bool corbo::MinTimeQuadraticControls::hasIntegralTerms ( int k ) const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 325 of file hybrid_cost.h.

◆ hasNonIntegralTerms()

bool corbo::MinTimeQuadraticControls::hasNonIntegralTerms ( int k ) const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 321 of file hybrid_cost.h.

◆ isLsqFormNonIntegralControlTerm()

bool corbo::MinTimeQuadraticControls::isLsqFormNonIntegralControlTerm ( int k ) const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 335 of file hybrid_cost.h.

◆ isLsqFormNonIntegralDtTerm()

bool corbo::MinTimeQuadraticControls::isLsqFormNonIntegralDtTerm ( int k ) const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 334 of file hybrid_cost.h.

◆ update()

bool corbo::MinTimeQuadraticControls::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
	)

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 337 of file hybrid_cost.h.

Member Data Documentation

◆ _min_time

MinimumTime corbo::MinTimeQuadraticControls::_min_time

protected

Definition at line 387 of file hybrid_cost.h.

◆ _quad_control_cost

QuadraticControlCost corbo::MinTimeQuadraticControls::_quad_control_cost

protected

Definition at line 388 of file hybrid_cost.h.

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

hybrid_cost.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MinTimeQuadraticControls() [1/2]

◆ MinTimeQuadraticControls() [2/2]

Member Function Documentation

◆ computeIntegralStateControlTerm()

◆ computeNonIntegralControlTerm()

◆ computeNonIntegralDtTerm()

◆ getInstance()

◆ getIntegralStateControlTermDimension()

◆ getNonIntegralControlTermDimension()

◆ getNonIntegralDtTermDimension()

◆ hasIntegralTerms()

◆ hasNonIntegralTerms()

◆ isLsqFormNonIntegralControlTerm()

◆ isLsqFormNonIntegralDtTerm()

◆ update()

Member Data Documentation

◆ _min_time

◆ _quad_control_cost