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bool | checkParameters (int state_dim, int control_dim, FinalStageCost::ConstPtr final_stage_cost, std::stringstream *issues) const override |
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void | computeNonIntegralStateTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override |
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FinalStageConstraint::Ptr | getInstance () const override |
| Return a newly created shared instance of the implemented class. More...
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int | getNonIntegralStateTermDimension (int k) const override |
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void | setWeightS (const Eigen::Ref< const Eigen::MatrixXd > &S)=delete |
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bool | setWeightS (const Eigen::DiagonalMatrix< double, -1 > &S)=delete |
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| TerminalBallInheritFromCost ()=default |
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bool | update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface *sref, bool single_dt, const Eigen::VectorXd &x0, FinalStageCost::ConstPtr final_stage_cost, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface *) override |
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double | getGamma () |
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const Eigen::MatrixXd & | getWeightS () const |
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bool | isEqualityConstraint () const override |
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void | setGamma (double gamma) |
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bool | setWeightS (const Eigen::Ref< const Eigen::MatrixXd > &S) |
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bool | setWeightS (const Eigen::DiagonalMatrix< double, -1 > &S) |
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| TerminalBall ()=default |
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| TerminalBall (const Eigen::Ref< const Eigen::MatrixXd > &S, double gamma) |
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bool | hasIntegralTerms (int k) const final |
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bool | hasNonIntegralTerms (int k) const final |
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bool | isInequalityConstraint () const |
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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) final |
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virtual bool | checkParameters (int state_dim, int control_dim, std::stringstream *issues) const |
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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 |
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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 |
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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...
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virtual int | getConcatenatedNonIntegralStateControlTermDimension (int k, bool lsq_mode=false) const |
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virtual int | getConcatenatedNonIntegralStateTermDimension (int k, bool lsq_mode=false) const |
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virtual int | getNonIntegralStateDtTermDimension (int k) const |
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virtual bool | isLinearNonIntegralControlTerm (int k) const |
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virtual bool | isLinearNonIntegralDtTerm (int k) const |
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virtual bool | isLinearNonIntegralStateTerm (int k) const |
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virtual bool | isLsqFormNonIntegralControlTerm (int k) const |
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virtual bool | isLsqFormNonIntegralDtTerm (int k) const |
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virtual bool | isLsqFormNonIntegralStateTerm (int k) const |
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virtual | ~StageFunction ()=default |
| Default destructor. More...
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