#include <final_state_constraints.h>

Inheritance diagram for corbo::TerminalBall:

[legend]

Public Types
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

double	getGamma ()

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

int	getNonIntegralStateTermDimension (int k) const override

const Eigen::MatrixXd &	getWeightS () const

bool	isEqualityConstraint () const override

void	setGamma (double gamma)

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

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

	TerminalBall ()=default

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

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::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...

Protected Attributes
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 60 of file final_state_constraints.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 86 of file final_state_constraints.h.

◆ Ptr

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

Definition at line 85 of file final_state_constraints.h.

Constructor & Destructor Documentation

◆ TerminalBall() [1/2]

corbo::TerminalBall::TerminalBall ( )

default

◆ TerminalBall() [2/2]

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

inline

Definition at line 90 of file final_state_constraints.h.

Member Function Documentation

◆ checkParameters()

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

overridevirtual

Reimplemented from corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalBallInheritFromCost.

Definition at line 103 of file final_state_constraints.cpp.

◆ computeNonIntegralStateTerm()

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

overridevirtual

Implements corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalBallInheritFromCost.

Definition at line 82 of file final_state_constraints.cpp.

◆ getGamma()

double corbo::TerminalBall::getGamma ( )

inline

Definition at line 107 of file final_state_constraints.h.

◆ getInstance()

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

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalBallInheritFromCost.

Definition at line 96 of file final_state_constraints.h.

◆ getNonIntegralStateTermDimension()

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

inlineoverridevirtual

Implements corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalBallInheritFromCost.

Definition at line 100 of file final_state_constraints.h.

◆ getWeightS()

const Eigen::MatrixXd& corbo::TerminalBall::getWeightS ( ) const

inline

Definition at line 104 of file final_state_constraints.h.

◆ isEqualityConstraint()

bool corbo::TerminalBall::isEqualityConstraint ( ) const

inlineoverridevirtual

Implements corbo::FinalStageConstraint.

Definition at line 98 of file final_state_constraints.h.

◆ setGamma()

void corbo::TerminalBall::setGamma ( double gamma )

inline

Definition at line 106 of file final_state_constraints.h.

◆ setWeightS() [1/2]

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

Definition at line 71 of file final_state_constraints.cpp.

◆ setWeightS() [2/2]

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

Definition at line 57 of file final_state_constraints.cpp.

◆ update()

bool corbo::TerminalBall::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 *
	)

inlineoverridevirtual

Reimplemented from corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalBallInheritFromCost.

Definition at line 111 of file final_state_constraints.h.

Member Data Documentation

◆ _diagonal_mode

bool corbo::TerminalBall::_diagonal_mode = false

protected

Definition at line 137 of file final_state_constraints.h.

◆ _diagonal_mode_intentionally

bool corbo::TerminalBall::_diagonal_mode_intentionally = false

protected

Definition at line 138 of file final_state_constraints.h.

◆ _gamma

double corbo::TerminalBall::_gamma = 0.0

protected

Definition at line 132 of file final_state_constraints.h.

◆ _S

Eigen::MatrixXd corbo::TerminalBall::_S

protected

Definition at line 130 of file final_state_constraints.h.

◆ _S_diag

Eigen::DiagonalMatrix<double, -1> corbo::TerminalBall::_S_diag

protected

Definition at line 131 of file final_state_constraints.h.

◆ _x_ref

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

protected

Definition at line 134 of file final_state_constraints.h.

◆ _zero_x_ref

bool corbo::TerminalBall::_zero_x_ref = false

protected

Definition at line 135 of file final_state_constraints.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ TerminalBall() [1/2]

◆ TerminalBall() [2/2]

Member Function Documentation

◆ checkParameters()

◆ computeNonIntegralStateTerm()

◆ getGamma()

◆ getInstance()

◆ getNonIntegralStateTermDimension()

◆ getWeightS()

◆ isEqualityConstraint()

◆ setGamma()

◆ setWeightS() [1/2]

◆ setWeightS() [2/2]

◆ update()

Member Data Documentation

◆ _diagonal_mode

◆ _diagonal_mode_intentionally

◆ _gamma

◆ _S

◆ _S_diag

◆ _x_ref

◆ _zero_x_ref