#include <final_state_cost.h>

Inheritance diagram for corbo::QuadraticFinalStateCostRiccati:

[legend]

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

	QuadraticFinalStateCostRiccati ()

	QuadraticFinalStateCostRiccati (SystemDynamicsInterface::Ptr dynamics, const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::MatrixXd > &R)

void	setLsqForm (bool lsq_form)

void	setSystemDynamics (SystemDynamicsInterface::Ptr dynamics)

bool	setWeightQ (const Eigen::DiagonalMatrix< double, -1 > &Q)

bool	setWeightQ (const Eigen::Ref< const Eigen::MatrixXd > &Q)

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

bool	setWeightR (const Eigen::Ref< const Eigen::MatrixXd > &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::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 bool	isLsqFormNonIntegralStateTerm (int k) const

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

Protected Member Functions
bool	computeWeightQfSqrt ()

Protected Attributes
bool	_are_solved_before = false

SystemDynamicsInterface::Ptr	_dynamics

bool	_lsq_form = true

Eigen::MatrixXd	_Q

bool	_Q_diagonal_mode_intentionally = false

Eigen::MatrixXd	_Qf

Eigen::MatrixXd	_Qf_sqrt

Eigen::MatrixXd	_R

bool	_R_diagonal_mode_intentionally = false

Eigen::VectorXd	_steady_state_u

Eigen::VectorXd	_steady_state_x

const ReferenceTrajectoryInterface *	_x_ref = nullptr

bool	_zero_x_ref = false

Additional Inherited Members
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 >

Detailed Description

Definition at line 125 of file final_state_cost.h.

Constructor & Destructor Documentation

◆ QuadraticFinalStateCostRiccati() [1/2]

corbo::QuadraticFinalStateCostRiccati::QuadraticFinalStateCostRiccati ( )

inline

Definition at line 128 of file final_state_cost.h.

◆ QuadraticFinalStateCostRiccati() [2/2]

corbo::QuadraticFinalStateCostRiccati::QuadraticFinalStateCostRiccati	(	SystemDynamicsInterface::Ptr	dynamics,
		const Eigen::Ref< const Eigen::MatrixXd > &	Q,
		const Eigen::Ref< const Eigen::MatrixXd > &	R
	)

inline

Definition at line 130 of file final_state_cost.h.

Member Function Documentation

◆ checkParameters()

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

overridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 370 of file final_state_cost.cpp.

◆ computeNonIntegralStateTerm()

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

overridevirtual

Implements corbo::FinalStageCost.

Definition at line 354 of file final_state_cost.cpp.

◆ computeWeightQfSqrt()

bool corbo::QuadraticFinalStateCostRiccati::computeWeightQfSqrt ( )

protected

Definition at line 341 of file final_state_cost.cpp.

◆ getInstance()

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

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::FinalStageCost.

Definition at line 138 of file final_state_cost.h.

◆ getNonIntegralStateTermDimension()

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

inlineoverridevirtual

Implements corbo::FinalStageCost.

Definition at line 140 of file final_state_cost.h.

◆ getWeightQf()

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

inlineoverridevirtual

Implements corbo::BaseQuadraticFinalStateCost.

Definition at line 155 of file final_state_cost.h.

◆ setLsqForm()

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

inline

Definition at line 153 of file final_state_cost.h.

◆ setSystemDynamics()

void corbo::QuadraticFinalStateCostRiccati::setSystemDynamics ( SystemDynamicsInterface::Ptr dynamics )

inline

Definition at line 142 of file final_state_cost.h.

◆ setWeightQ() [1/2]

bool corbo::QuadraticFinalStateCostRiccati::setWeightQ ( const Eigen::DiagonalMatrix< double, -1 > & Q )

Definition at line 240 of file final_state_cost.cpp.

◆ setWeightQ() [2/2]

bool corbo::QuadraticFinalStateCostRiccati::setWeightQ ( const Eigen::Ref< const Eigen::MatrixXd > & Q )

Definition at line 230 of file final_state_cost.cpp.

◆ setWeightR() [1/2]

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

Definition at line 259 of file final_state_cost.cpp.

◆ setWeightR() [2/2]

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

Definition at line 249 of file final_state_cost.cpp.

◆ update()

bool corbo::QuadraticFinalStateCostRiccati::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
	)

overridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 268 of file final_state_cost.cpp.

Member Data Documentation

◆ _are_solved_before

bool corbo::QuadraticFinalStateCostRiccati::_are_solved_before = false

protected

Definition at line 184 of file final_state_cost.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::QuadraticFinalStateCostRiccati::_dynamics

protected

Definition at line 180 of file final_state_cost.h.

◆ _lsq_form

bool corbo::QuadraticFinalStateCostRiccati::_lsq_form = true

protected

Definition at line 183 of file final_state_cost.h.

◆ _Q

Eigen::MatrixXd corbo::QuadraticFinalStateCostRiccati::_Q

protected

Definition at line 173 of file final_state_cost.h.

◆ _Q_diagonal_mode_intentionally

bool corbo::QuadraticFinalStateCostRiccati::_Q_diagonal_mode_intentionally = false

protected

Definition at line 175 of file final_state_cost.h.

◆ _Qf

Eigen::MatrixXd corbo::QuadraticFinalStateCostRiccati::_Qf

protected

Definition at line 179 of file final_state_cost.h.

◆ _Qf_sqrt

Eigen::MatrixXd corbo::QuadraticFinalStateCostRiccati::_Qf_sqrt

protected

Definition at line 178 of file final_state_cost.h.

◆ _R

Eigen::MatrixXd corbo::QuadraticFinalStateCostRiccati::_R

protected

Definition at line 174 of file final_state_cost.h.

◆ _R_diagonal_mode_intentionally

bool corbo::QuadraticFinalStateCostRiccati::_R_diagonal_mode_intentionally = false

protected

Definition at line 176 of file final_state_cost.h.

◆ _steady_state_u

Eigen::VectorXd corbo::QuadraticFinalStateCostRiccati::_steady_state_u

protected

Definition at line 182 of file final_state_cost.h.

◆ _steady_state_x

Eigen::VectorXd corbo::QuadraticFinalStateCostRiccati::_steady_state_x

protected

Definition at line 181 of file final_state_cost.h.

◆ _x_ref

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

protected

Definition at line 186 of file final_state_cost.h.

◆ _zero_x_ref

bool corbo::QuadraticFinalStateCostRiccati::_zero_x_ref = false

protected

Definition at line 187 of file final_state_cost.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ QuadraticFinalStateCostRiccati() [1/2]

◆ QuadraticFinalStateCostRiccati() [2/2]

Member Function Documentation

◆ checkParameters()

◆ computeNonIntegralStateTerm()

◆ computeWeightQfSqrt()

◆ getInstance()

◆ getNonIntegralStateTermDimension()

◆ getWeightQf()

◆ setLsqForm()

◆ setSystemDynamics()

◆ setWeightQ() [1/2]

◆ setWeightQ() [2/2]

◆ setWeightR() [1/2]

◆ setWeightR() [2/2]

◆ update()

Member Data Documentation

◆ _are_solved_before

◆ _dynamics

◆ _lsq_form

◆ _Q

◆ _Q_diagonal_mode_intentionally

◆ _Qf

◆ _Qf_sqrt

◆ _R

◆ _R_diagonal_mode_intentionally

◆ _steady_state_u

◆ _steady_state_x

◆ _x_ref

◆ _zero_x_ref