#include <final_state_constraints.h>

Inheritance diagram for corbo::TerminalBallInheritFromCost:

Public Types
using	ConstPtr = std::shared_ptr< const TerminalBallInheritFromCost >

using	Ptr = std::shared_ptr< TerminalBallInheritFromCost >

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

using	Ptr = std::shared_ptr< TerminalBall >

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

using	Ptr = std::shared_ptr< FinalStageConstraint >

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, FinalStageCost::ConstPtr final_stage_cost, std::stringstream *issues) const override

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

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

int	getNonIntegralStateTermDimension (int k) const override

void	setWeightS (const Eigen::Ref< const Eigen::MatrixXd > &S)=delete

bool	setWeightS (const Eigen::DiagonalMatrix< double, -1 > &S)=delete

	TerminalBallInheritFromCost ()=default

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

Public Member Functions inherited from corbo::TerminalBall
double	getGamma ()

const Eigen::MatrixXd &	getWeightS () const

bool	isEqualityConstraint () const override

void	setGamma (double gamma)

bool	setWeightS (const Eigen::Ref< const Eigen::MatrixXd > &S)

bool	setWeightS (const Eigen::DiagonalMatrix< double, -1 > &S)

	TerminalBall ()=default

	TerminalBall (const Eigen::Ref< const Eigen::MatrixXd > &S, double gamma)

Public Member Functions inherited from corbo::FinalStageConstraint
bool	hasIntegralTerms (int k) const final

bool	hasNonIntegralTerms (int k) const final

bool	isInequalityConstraint () const

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

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

Public Attributes
double	_gamma = 0.0

Additional Inherited Members
Protected Attributes inherited from corbo::TerminalBall
bool	_diagonal_mode = false

bool	_diagonal_mode_intentionally = false

double	_gamma = 0.0

Eigen::MatrixXd	_S

Eigen::DiagonalMatrix< double, -1 >	_S_diag

const ReferenceTrajectoryInterface *	_x_ref = nullptr

bool	_zero_x_ref = false

Detailed Description

Definition at line 98 of file final_state_constraints.h.

Member Typedef Documentation

◆ ConstPtr

using corbo::TerminalBallInheritFromCost::ConstPtr = std::shared_ptr<const TerminalBallInheritFromCost>

Definition at line 102 of file final_state_constraints.h.

◆ Ptr

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

Definition at line 101 of file final_state_constraints.h.

Constructor & Destructor Documentation

◆ TerminalBallInheritFromCost()

corbo::TerminalBallInheritFromCost::TerminalBallInheritFromCost ( )

default

Member Function Documentation

◆ checkParameters()

bool corbo::TerminalBallInheritFromCost::checkParameters	(	int	state_dim,
		int	control_dim,
		FinalStageCost::ConstPtr	final_stage_cost,
		std::stringstream *	issues
	)		const

overridevirtual

Reimplemented from corbo::TerminalBall.

Definition at line 221 of file final_state_constraints.cpp.

◆ computeNonIntegralStateTerm()

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

overridevirtual

Reimplemented from corbo::TerminalBall.

Definition at line 197 of file final_state_constraints.cpp.

◆ getInstance()

FinalStageConstraint::Ptr corbo::TerminalBallInheritFromCost::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Reimplemented from corbo::TerminalBall.

Definition at line 106 of file final_state_constraints.h.

◆ getNonIntegralStateTermDimension()

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

inlineoverridevirtual

Reimplemented from corbo::TerminalBall.

Definition at line 108 of file final_state_constraints.h.

◆ setWeightS() [1/2]

void corbo::TerminalBallInheritFromCost::setWeightS ( const Eigen::Ref< const Eigen::MatrixXd > & S )

delete

◆ setWeightS() [2/2]

bool corbo::TerminalBallInheritFromCost::setWeightS ( const Eigen::DiagonalMatrix< double, -1 > & S )

delete

◆ update()

bool corbo::TerminalBallInheritFromCost::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 *	grid
	)

overridevirtual

Reimplemented from corbo::TerminalBall.

Definition at line 171 of file final_state_constraints.cpp.

Member Data Documentation

◆ _gamma

double corbo::TerminalBallInheritFromCost::_gamma = 0.0

Definition at line 126 of file final_state_constraints.h.

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

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ TerminalBallInheritFromCost()

Member Function Documentation

◆ checkParameters()

◆ computeNonIntegralStateTerm()

◆ getInstance()

◆ getNonIntegralStateTermDimension()

◆ setWeightS() [1/2]

◆ setWeightS() [2/2]

◆ update()

Member Data Documentation

◆ _gamma