#include <final_state_cost.h>

Inheritance diagram for corbo::QuadraticFinalStateCostRiccati:

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::Ref< const Eigen::MatrixXd > &Q)

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

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

bool	setWeightR (const Eigen::DiagonalMatrix< double, -1 > &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 103 of file final_state_cost.h.

Constructor & Destructor Documentation

◆ QuadraticFinalStateCostRiccati() [1/2]

corbo::QuadraticFinalStateCostRiccati::QuadraticFinalStateCostRiccati ( )

inline

Definition at line 106 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 108 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 348 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 332 of file final_state_cost.cpp.

◆ computeWeightQfSqrt()

bool corbo::QuadraticFinalStateCostRiccati::computeWeightQfSqrt ( )

protected

Definition at line 319 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 116 of file final_state_cost.h.

◆ getNonIntegralStateTermDimension()

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

inlineoverridevirtual

Implements corbo::FinalStageCost.

Definition at line 118 of file final_state_cost.h.

◆ getWeightQf()

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

inlineoverridevirtual

Implements corbo::BaseQuadraticFinalStateCost.

Definition at line 133 of file final_state_cost.h.

◆ setLsqForm()

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

inline

Definition at line 131 of file final_state_cost.h.

◆ setSystemDynamics()

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

inline

Definition at line 120 of file final_state_cost.h.

◆ setWeightQ() [1/2]

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

Definition at line 208 of file final_state_cost.cpp.

◆ setWeightQ() [2/2]

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

Definition at line 218 of file final_state_cost.cpp.

◆ setWeightR() [1/2]

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

Definition at line 227 of file final_state_cost.cpp.

◆ setWeightR() [2/2]

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

Definition at line 237 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 246 of file final_state_cost.cpp.

Member Data Documentation

◆ _are_solved_before

bool corbo::QuadraticFinalStateCostRiccati::_are_solved_before = false

protected

Definition at line 162 of file final_state_cost.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::QuadraticFinalStateCostRiccati::_dynamics

protected

Definition at line 158 of file final_state_cost.h.

◆ _lsq_form

bool corbo::QuadraticFinalStateCostRiccati::_lsq_form = true

protected

Definition at line 161 of file final_state_cost.h.

◆ _Q

Eigen::MatrixXd corbo::QuadraticFinalStateCostRiccati::_Q

protected

Definition at line 151 of file final_state_cost.h.

◆ _Q_diagonal_mode_intentionally

bool corbo::QuadraticFinalStateCostRiccati::_Q_diagonal_mode_intentionally = false

protected

Definition at line 153 of file final_state_cost.h.

◆ _Qf

Eigen::MatrixXd corbo::QuadraticFinalStateCostRiccati::_Qf

protected

Definition at line 157 of file final_state_cost.h.

◆ _Qf_sqrt

Eigen::MatrixXd corbo::QuadraticFinalStateCostRiccati::_Qf_sqrt

protected

Definition at line 156 of file final_state_cost.h.

◆ _R

Eigen::MatrixXd corbo::QuadraticFinalStateCostRiccati::_R

protected

Definition at line 152 of file final_state_cost.h.

◆ _R_diagonal_mode_intentionally

bool corbo::QuadraticFinalStateCostRiccati::_R_diagonal_mode_intentionally = false

protected

Definition at line 154 of file final_state_cost.h.

◆ _steady_state_u

Eigen::VectorXd corbo::QuadraticFinalStateCostRiccati::_steady_state_u

protected

Definition at line 160 of file final_state_cost.h.

◆ _steady_state_x

Eigen::VectorXd corbo::QuadraticFinalStateCostRiccati::_steady_state_x

protected

Definition at line 159 of file final_state_cost.h.

◆ _x_ref

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

protected

Definition at line 164 of file final_state_cost.h.

◆ _zero_x_ref

bool corbo::QuadraticFinalStateCostRiccati::_zero_x_ref = false

protected

Definition at line 165 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