#include <final_state_cost.h>

Inheritance diagram for corbo::QuadraticFinalStateCost:

Public Types
using	Ptr = std::shared_ptr< QuadraticFinalStateCost >

Public Types inherited from corbo::BaseQuadraticFinalStateCost
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
bool	checkParameters (int state_dim, int control_dim, std::stringstream *issues) const override

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

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

int	getNonIntegralStateTermDimension (int k) const override

const Eigen::MatrixXd &	getWeightQf () const override

bool	isLsqFormNonIntegralStateTerm (int k) const override

	QuadraticFinalStateCost ()

	QuadraticFinalStateCost (const Eigen::Ref< const Eigen::MatrixXd > &Qf, bool lsq_form)

void	setLsqForm (bool lsq_form)

bool	setWeightQf (const Eigen::Ref< const Eigen::MatrixXd > &Qf)

bool	setWeightQf (const Eigen::DiagonalMatrix< double, -1 > &Qf)

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::FinalStageCost
bool	hasIntegralTerms (int k) const final

bool	hasNonIntegralTerms (int k) const final

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

Protected Attributes
bool	_diagonal_mode = false

bool	_diagonal_mode_intentionally = false

bool	_lsq_form = true

Eigen::MatrixXd	_Qf

Eigen::DiagonalMatrix< double, -1 >	_Qf_diag

Eigen::DiagonalMatrix< double, -1 >	_Qf_diag_sqrt

Eigen::MatrixXd	_Qf_sqrt

const ReferenceTrajectoryInterface *	_x_ref = nullptr

bool	_zero_x_ref = false

Detailed Description

Definition at line 47 of file final_state_cost.h.

Member Typedef Documentation

◆ Ptr

using corbo::QuadraticFinalStateCost::Ptr = std::shared_ptr<QuadraticFinalStateCost>

Definition at line 50 of file final_state_cost.h.

Constructor & Destructor Documentation

◆ QuadraticFinalStateCost() [1/2]

corbo::QuadraticFinalStateCost::QuadraticFinalStateCost ( )

inline

Definition at line 52 of file final_state_cost.h.

◆ QuadraticFinalStateCost() [2/2]

corbo::QuadraticFinalStateCost::QuadraticFinalStateCost	(	const Eigen::Ref< const Eigen::MatrixXd > &	Qf,
		bool	lsq_form
	)

inline

Definition at line 54 of file final_state_cost.h.

Member Function Documentation

◆ checkParameters()

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

overridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 114 of file final_state_cost.cpp.

◆ computeNonIntegralStateTerm()

void corbo::QuadraticFinalStateCost::computeNonIntegralStateTerm	(	int	k,
		const Eigen::Ref< const Eigen::VectorXd > &	x_k,
		Eigen::Ref< Eigen::VectorXd >	cost
	)		const

overridevirtual

Implements corbo::FinalStageCost.

Definition at line 72 of file final_state_cost.cpp.

◆ getInstance()

FinalStageCost::Ptr corbo::QuadraticFinalStateCost::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::FinalStageCost.

Definition at line 56 of file final_state_cost.h.

◆ getNonIntegralStateTermDimension()

int corbo::QuadraticFinalStateCost::getNonIntegralStateTermDimension ( int k ) const

inlineoverridevirtual

Implements corbo::FinalStageCost.

Definition at line 58 of file final_state_cost.h.

◆ getWeightQf()

const Eigen::MatrixXd& corbo::QuadraticFinalStateCost::getWeightQf ( ) const

inlineoverridevirtual

Implements corbo::BaseQuadraticFinalStateCost.

Definition at line 64 of file final_state_cost.h.

◆ isLsqFormNonIntegralStateTerm()

bool corbo::QuadraticFinalStateCost::isLsqFormNonIntegralStateTerm ( int k ) const

inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 59 of file final_state_cost.h.

◆ setLsqForm()

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

inline

Definition at line 66 of file final_state_cost.h.

◆ setWeightQf() [1/2]

bool corbo::QuadraticFinalStateCost::setWeightQf ( const Eigen::Ref< const Eigen::MatrixXd > & Qf )

Definition at line 39 of file final_state_cost.cpp.

◆ setWeightQf() [2/2]

bool corbo::QuadraticFinalStateCost::setWeightQf ( const Eigen::DiagonalMatrix< double, -1 > & Qf )

Definition at line 62 of file final_state_cost.cpp.

◆ update()

bool corbo::QuadraticFinalStateCost::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 70 of file final_state_cost.h.

Member Data Documentation

◆ _diagonal_mode

bool corbo::QuadraticFinalStateCost::_diagonal_mode = false

protected

Definition at line 94 of file final_state_cost.h.

◆ _diagonal_mode_intentionally

bool corbo::QuadraticFinalStateCost::_diagonal_mode_intentionally = false

protected

Definition at line 95 of file final_state_cost.h.

◆ _lsq_form

bool corbo::QuadraticFinalStateCost::_lsq_form = true

protected

Definition at line 96 of file final_state_cost.h.

◆ _Qf

Eigen::MatrixXd corbo::QuadraticFinalStateCost::_Qf

protected

Definition at line 91 of file final_state_cost.h.

◆ _Qf_diag

Eigen::DiagonalMatrix<double, -1> corbo::QuadraticFinalStateCost::_Qf_diag

protected

Definition at line 93 of file final_state_cost.h.

◆ _Qf_diag_sqrt

Eigen::DiagonalMatrix<double, -1> corbo::QuadraticFinalStateCost::_Qf_diag_sqrt

protected

Definition at line 92 of file final_state_cost.h.

◆ _Qf_sqrt

Eigen::MatrixXd corbo::QuadraticFinalStateCost::_Qf_sqrt

protected

Definition at line 90 of file final_state_cost.h.

◆ _x_ref

const ReferenceTrajectoryInterface* corbo::QuadraticFinalStateCost::_x_ref = nullptr

protected

Definition at line 98 of file final_state_cost.h.

◆ _zero_x_ref

bool corbo::QuadraticFinalStateCost::_zero_x_ref = false

protected

Definition at line 99 of file final_state_cost.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ QuadraticFinalStateCost() [1/2]

◆ QuadraticFinalStateCost() [2/2]

Member Function Documentation

◆ checkParameters()

◆ computeNonIntegralStateTerm()

◆ getInstance()

◆ getNonIntegralStateTermDimension()

◆ getWeightQf()

◆ isLsqFormNonIntegralStateTerm()

◆ setLsqForm()

◆ setWeightQf() [1/2]

◆ setWeightQf() [2/2]

◆ update()

Member Data Documentation

◆ _diagonal_mode

◆ _diagonal_mode_intentionally

◆ _lsq_form

◆ _Qf

◆ _Qf_diag

◆ _Qf_diag_sqrt

◆ _Qf_sqrt

◆ _x_ref

◆ _zero_x_ref