#include <quadratic_control_cost.h>

Inheritance diagram for corbo::QuadraticControlCost:

Public Member Functions
bool	checkParameters (int state_dim, int control_dim, std::stringstream *issues) const override

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

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

bool	hasIntegralTerms (int k) const override

bool	hasNonIntegralTerms (int k) const override

bool	isLsqFormNonIntegralControlTerm (int k) const override

	QuadraticControlCost ()

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

void	setIntegralForm (bool integral_form)

void	setLsqForm (bool lsq_form)

bool	setWeightR (const Eigen::Ref< const Eigen::MatrixXd > &R)

bool	setWeightR (const Eigen::DiagonalMatrix< double, -1 > &R)

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 ) override

Public Member Functions inherited from corbo::StageFunction
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	computeNonIntegralDtTerm (int k, double dt, 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	getNonIntegralDtTermDimension (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	isLsqFormNonIntegralDtTerm (int k) const

virtual bool	isLsqFormNonIntegralStateTerm (int k) const

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

Protected Attributes
bool	_diagonal_mode = false

bool	_diagonal_mode_intentionally = false

bool	_integral_form = false

bool	_lsq_form = true

Eigen::MatrixXd	_R

Eigen::DiagonalMatrix< double, -1 >	_R_diag

Eigen::DiagonalMatrix< double, -1 >	_R_diag_sqrt

Eigen::MatrixXd	_R_sqrt

const ReferenceTrajectoryInterface *	_u_ref = nullptr

bool	_zero_u_ref = false

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 35 of file quadratic_control_cost.h.

Constructor & Destructor Documentation

◆ QuadraticControlCost() [1/2]

corbo::QuadraticControlCost::QuadraticControlCost ( )

inline

Definition at line 38 of file quadratic_control_cost.h.

◆ QuadraticControlCost() [2/2]

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

inline

Definition at line 40 of file quadratic_control_cost.h.

Member Function Documentation

◆ checkParameters()

bool corbo::QuadraticControlCost::checkParameters	(	int	state_dim,
		int	control_dim,
		std::stringstream *	issues
	)		const

overridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 133 of file quadratic_control_cost.cpp.

◆ computeIntegralStateControlTerm()

void corbo::QuadraticControlCost::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

overridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 108 of file quadratic_control_cost.cpp.

◆ computeNonIntegralControlTerm()

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

overridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 65 of file quadratic_control_cost.cpp.

◆ getInstance()

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

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::StageCost.

Definition at line 46 of file quadratic_control_cost.h.

◆ getIntegralStateControlTermDimension()

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

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 57 of file quadratic_control_cost.h.

◆ getNonIntegralControlTermDimension()

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

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 56 of file quadratic_control_cost.h.

◆ hasIntegralTerms()

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

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 53 of file quadratic_control_cost.h.

◆ hasNonIntegralTerms()

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

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 54 of file quadratic_control_cost.h.

◆ isLsqFormNonIntegralControlTerm()

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

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 59 of file quadratic_control_cost.h.

◆ setIntegralForm()

void corbo::QuadraticControlCost::setIntegralForm ( bool integral_form )

inline

Definition at line 51 of file quadratic_control_cost.h.

◆ setLsqForm()

void corbo::QuadraticControlCost::setLsqForm ( bool lsq_form )

inline

Definition at line 50 of file quadratic_control_cost.h.

◆ setWeightR() [1/2]

bool corbo::QuadraticControlCost::setWeightR ( const Eigen::Ref< const Eigen::MatrixXd > & R )

Definition at line 33 of file quadratic_control_cost.cpp.

◆ setWeightR() [2/2]

bool corbo::QuadraticControlCost::setWeightR ( const Eigen::DiagonalMatrix< double, -1 > & R )

Definition at line 56 of file quadratic_control_cost.cpp.

◆ update()

bool corbo::QuadraticControlCost::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 *
	)

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 65 of file quadratic_control_cost.h.

Member Data Documentation

◆ _diagonal_mode

bool corbo::QuadraticControlCost::_diagonal_mode = false

protected

Definition at line 94 of file quadratic_control_cost.h.

◆ _diagonal_mode_intentionally

bool corbo::QuadraticControlCost::_diagonal_mode_intentionally = false

protected

Definition at line 95 of file quadratic_control_cost.h.

◆ _integral_form

bool corbo::QuadraticControlCost::_integral_form = false

protected

Definition at line 97 of file quadratic_control_cost.h.

◆ _lsq_form

bool corbo::QuadraticControlCost::_lsq_form = true

protected

Definition at line 96 of file quadratic_control_cost.h.

◆ _R

Eigen::MatrixXd corbo::QuadraticControlCost::_R

protected

Definition at line 91 of file quadratic_control_cost.h.

◆ _R_diag

Eigen::DiagonalMatrix<double, -1> corbo::QuadraticControlCost::_R_diag

protected

Definition at line 93 of file quadratic_control_cost.h.

◆ _R_diag_sqrt

Eigen::DiagonalMatrix<double, -1> corbo::QuadraticControlCost::_R_diag_sqrt

protected

Definition at line 92 of file quadratic_control_cost.h.

◆ _R_sqrt

Eigen::MatrixXd corbo::QuadraticControlCost::_R_sqrt

protected

Definition at line 90 of file quadratic_control_cost.h.

◆ _u_ref

const ReferenceTrajectoryInterface* corbo::QuadraticControlCost::_u_ref = nullptr

protected

Definition at line 99 of file quadratic_control_cost.h.

◆ _zero_u_ref

bool corbo::QuadraticControlCost::_zero_u_ref = false

protected

Definition at line 100 of file quadratic_control_cost.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ QuadraticControlCost() [1/2]

◆ QuadraticControlCost() [2/2]

Member Function Documentation

◆ checkParameters()

◆ computeIntegralStateControlTerm()

◆ computeNonIntegralControlTerm()

◆ getInstance()

◆ getIntegralStateControlTermDimension()

◆ getNonIntegralControlTermDimension()

◆ hasIntegralTerms()

◆ hasNonIntegralTerms()

◆ isLsqFormNonIntegralControlTerm()

◆ setIntegralForm()

◆ setLsqForm()

◆ setWeightR() [1/2]

◆ setWeightR() [2/2]

◆ update()

Member Data Documentation

◆ _diagonal_mode

◆ _diagonal_mode_intentionally

◆ _integral_form

◆ _lsq_form

◆ _R

◆ _R_diag

◆ _R_diag_sqrt

◆ _R_sqrt

◆ _u_ref

◆ _zero_u_ref