#include <final_state_constraints.h>
Public Types | |
using | ConstPtr = std::shared_ptr< const TerminalEqualityConstraint > |
using | Ptr = std::shared_ptr< TerminalEqualityConstraint > |
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using | ConstPtr = std::shared_ptr< const FinalStageConstraint > |
using | Ptr = std::shared_ptr< FinalStageConstraint > |
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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 |
const Eigen::VectorXd & | getXRef () const |
bool | isEqualityConstraint () const override |
void | setXRef (const Eigen::Ref< const Eigen::VectorXd > &xref) |
TerminalEqualityConstraint ()=default | |
TerminalEqualityConstraint (const Eigen::Ref< const Eigen::VectorXd > &xref) | |
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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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 |
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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... | |
Protected Attributes | |
Eigen::VectorXd | _xref |
Definition at line 130 of file final_state_constraints.h.
using corbo::TerminalEqualityConstraint::ConstPtr = std::shared_ptr<const TerminalEqualityConstraint> |
Definition at line 134 of file final_state_constraints.h.
using corbo::TerminalEqualityConstraint::Ptr = std::shared_ptr<TerminalEqualityConstraint> |
Definition at line 133 of file final_state_constraints.h.
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default |
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inline |
Definition at line 138 of file final_state_constraints.h.
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inlineoverridevirtual |
Reimplemented from corbo::FinalStageConstraint.
Reimplemented in corbo::TerminalPartialEqualityConstraint.
Definition at line 163 of file final_state_constraints.h.
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inlineoverridevirtual |
Implements corbo::FinalStageConstraint.
Reimplemented in corbo::TerminalPartialEqualityConstraint.
Definition at line 149 of file final_state_constraints.h.
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inlineoverridevirtual |
Return a newly created shared instance of the implemented class.
Implements corbo::FinalStageConstraint.
Reimplemented in corbo::TerminalPartialEqualityConstraint.
Definition at line 140 of file final_state_constraints.h.
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inlineoverridevirtual |
Implements corbo::FinalStageConstraint.
Reimplemented in corbo::TerminalPartialEqualityConstraint.
Definition at line 144 of file final_state_constraints.h.
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inline |
Definition at line 147 of file final_state_constraints.h.
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inlineoverridevirtual |
Implements corbo::FinalStageConstraint.
Reimplemented in corbo::TerminalPartialEqualityConstraint.
Definition at line 142 of file final_state_constraints.h.
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inline |
Definition at line 146 of file final_state_constraints.h.
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inlineoverridevirtual |
Reimplemented from corbo::FinalStageConstraint.
Reimplemented in corbo::TerminalPartialEqualityConstraint.
Definition at line 156 of file final_state_constraints.h.
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protected |
Definition at line 194 of file final_state_constraints.h.