Public Types | Public Member Functions | Protected Attributes | List of all members
corbo::QuadraticFormCost Class Reference

#include <quadratic_cost.h>

Inheritance diagram for corbo::QuadraticFormCost:
Inheritance graph
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Public Types

using Ptr = std::shared_ptr< QuadraticFormCost >
 
- Public Types inherited from corbo::StageCost
using ConstPtr = std::shared_ptr< const StageCost >
 
using Ptr = std::shared_ptr< StageCost >
 
- 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, std::stringstream *issues) const override
 
void computeIntegralStateControlTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, Eigen::Ref< Eigen::VectorXd > cost) const override
 
void computeNonIntegralControlTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &u_k, Eigen::Ref< Eigen::VectorXd > cost) const override
 
void computeNonIntegralStateTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
 
StageCost::Ptr getInstance () const override
 Return a newly created shared instance of the implemented class. More...
 
int getIntegralStateControlTermDimension (int k) const override
 
int getNonIntegralControlTermDimension (int k) const override
 
int getNonIntegralStateTermDimension (int k) const override
 
const Eigen::MatrixXd & getWeightQ () const
 
const Eigen::MatrixXd & getWeightR () const
 
bool hasIntegralTerms (int k) const override
 
bool hasNonIntegralTerms (int k) const override
 
bool isLsqFormNonIntegralControlTerm (int k) const override
 
bool isLsqFormNonIntegralStateTerm (int k) const override
 
 QuadraticFormCost ()
 
 QuadraticFormCost (const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::MatrixXd > &R, bool integral_form=false, bool lsq_form=false)
 
void scaleCurrentWeightQ (double scale)
 
void scaleCurrentWeightR (double scale)
 
void setIntegralForm (bool integral_form)
 
void setLsqForm (bool lsq_form)
 
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::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 computeNonIntegralControlDeviationTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &u_k, const Eigen::Ref< const Eigen::VectorXd > &u_prev, double dt_prev, Eigen::Ref< Eigen::VectorXd > cost) const
 
virtual void computeNonIntegralDtTerm (int k, double dt, Eigen::Ref< Eigen::VectorXd > cost) const
 
virtual void computeNonIntegralStateControlDtTerm (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) const
 
virtual void computeNonIntegralStateControlTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, Eigen::Ref< Eigen::VectorXd > cost) 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 getNonIntegralControlDeviationTermDimension (int k) const
 
virtual int getNonIntegralDtTermDimension (int k) const
 
virtual int getNonIntegralStateControlDtTermDimension (int k) const
 
virtual int getNonIntegralStateControlTermDimension (int k) 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 isLsqFormNonIntegralDtTerm (int k) const
 
virtual ~StageFunction ()=default
 Default destructor. More...
 

Protected Attributes

bool _integral_form = false
 
bool _lsq_form = true
 
Eigen::MatrixXd _Q
 
Eigen::DiagonalMatrix< double, -1 > _Q_diag
 
Eigen::DiagonalMatrix< double, -1 > _Q_diag_sqrt
 
bool _Q_diagonal_mode = false
 
bool _Q_diagonal_mode_intentionally = false
 
Eigen::MatrixXd _Q_sqrt
 
Eigen::MatrixXd _R
 
Eigen::DiagonalMatrix< double, -1 > _R_diag
 
Eigen::DiagonalMatrix< double, -1 > _R_diag_sqrt
 
bool _R_diagonal_mode = false
 
bool _R_diagonal_mode_intentionally = false
 
Eigen::MatrixXd _R_sqrt
 
const ReferenceTrajectoryInterface * _u_ref = nullptr
 
const ReferenceTrajectoryInterface * _x_ref = nullptr
 
bool _zero_u_ref = false
 
bool _zero_x_ref = false
 

Detailed Description

Definition at line 35 of file quadratic_cost.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 38 of file quadratic_cost.h.

Constructor & Destructor Documentation

◆ QuadraticFormCost() [1/2]

corbo::QuadraticFormCost::QuadraticFormCost ( )
inline

Definition at line 40 of file quadratic_cost.h.

◆ QuadraticFormCost() [2/2]

corbo::QuadraticFormCost::QuadraticFormCost ( const Eigen::Ref< const Eigen::MatrixXd > &  Q,
const Eigen::Ref< const Eigen::MatrixXd > &  R,
bool  integral_form = false,
bool  lsq_form = false 
)
inline

Definition at line 46 of file quadratic_cost.h.

Member Function Documentation

◆ checkParameters()

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

Reimplemented from corbo::StageFunction.

Definition at line 226 of file quadratic_cost.cpp.

◆ computeIntegralStateControlTerm()

void corbo::QuadraticFormCost::computeIntegralStateControlTerm ( int  k,
const Eigen::Ref< const Eigen::VectorXd > &  x_k,
const Eigen::Ref< const Eigen::VectorXd > &  u_k,
Eigen::Ref< Eigen::VectorXd >  cost 
) const
overridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 186 of file quadratic_cost.cpp.

◆ computeNonIntegralControlTerm()

void corbo::QuadraticFormCost::computeNonIntegralControlTerm ( int  k,
const Eigen::Ref< const Eigen::VectorXd > &  u_k,
Eigen::Ref< Eigen::VectorXd >  cost 
) const
overridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 143 of file quadratic_cost.cpp.

◆ computeNonIntegralStateTerm()

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

Reimplemented from corbo::StageFunction.

Definition at line 100 of file quadratic_cost.cpp.

◆ getInstance()

StageCost::Ptr corbo::QuadraticFormCost::getInstance ( ) const
inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::StageCost.

Definition at line 54 of file quadratic_cost.h.

◆ getIntegralStateControlTermDimension()

int corbo::QuadraticFormCost::getIntegralStateControlTermDimension ( int  k) const
inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 61 of file quadratic_cost.h.

◆ getNonIntegralControlTermDimension()

int corbo::QuadraticFormCost::getNonIntegralControlTermDimension ( int  k) const
inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 60 of file quadratic_cost.h.

◆ getNonIntegralStateTermDimension()

int corbo::QuadraticFormCost::getNonIntegralStateTermDimension ( int  k) const
inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 59 of file quadratic_cost.h.

◆ getWeightQ()

const Eigen::MatrixXd& corbo::QuadraticFormCost::getWeightQ ( ) const
inline

Definition at line 99 of file quadratic_cost.h.

◆ getWeightR()

const Eigen::MatrixXd& corbo::QuadraticFormCost::getWeightR ( ) const
inline

Definition at line 100 of file quadratic_cost.h.

◆ hasIntegralTerms()

bool corbo::QuadraticFormCost::hasIntegralTerms ( int  k) const
inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 57 of file quadratic_cost.h.

◆ hasNonIntegralTerms()

bool corbo::QuadraticFormCost::hasNonIntegralTerms ( int  k) const
inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 56 of file quadratic_cost.h.

◆ isLsqFormNonIntegralControlTerm()

bool corbo::QuadraticFormCost::isLsqFormNonIntegralControlTerm ( int  k) const
inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 64 of file quadratic_cost.h.

◆ isLsqFormNonIntegralStateTerm()

bool corbo::QuadraticFormCost::isLsqFormNonIntegralStateTerm ( int  k) const
inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 63 of file quadratic_cost.h.

◆ scaleCurrentWeightQ()

void corbo::QuadraticFormCost::scaleCurrentWeightQ ( double  scale)

Definition at line 278 of file quadratic_cost.cpp.

◆ scaleCurrentWeightR()

void corbo::QuadraticFormCost::scaleCurrentWeightR ( double  scale)

Definition at line 286 of file quadratic_cost.cpp.

◆ setIntegralForm()

void corbo::QuadraticFormCost::setIntegralForm ( bool  integral_form)
inline

Definition at line 72 of file quadratic_cost.h.

◆ setLsqForm()

void corbo::QuadraticFormCost::setLsqForm ( bool  lsq_form)
inline

Definition at line 71 of file quadratic_cost.h.

◆ setWeightQ() [1/2]

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

Definition at line 33 of file quadratic_cost.cpp.

◆ setWeightQ() [2/2]

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

Definition at line 57 of file quadratic_cost.cpp.

◆ setWeightR() [1/2]

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

Definition at line 67 of file quadratic_cost.cpp.

◆ setWeightR() [2/2]

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

Definition at line 90 of file quadratic_cost.cpp.

◆ update()

bool corbo::QuadraticFormCost::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 *   
)
inlineoverridevirtual

Reimplemented from corbo::StageFunction.

Definition at line 81 of file quadratic_cost.h.

Member Data Documentation

◆ _integral_form

bool corbo::QuadraticFormCost::_integral_form = false
protected

Definition at line 128 of file quadratic_cost.h.

◆ _lsq_form

bool corbo::QuadraticFormCost::_lsq_form = true
protected

Definition at line 127 of file quadratic_cost.h.

◆ _Q

Eigen::MatrixXd corbo::QuadraticFormCost::_Q
protected

Definition at line 116 of file quadratic_cost.h.

◆ _Q_diag

Eigen::DiagonalMatrix<double, -1> corbo::QuadraticFormCost::_Q_diag
protected

Definition at line 120 of file quadratic_cost.h.

◆ _Q_diag_sqrt

Eigen::DiagonalMatrix<double, -1> corbo::QuadraticFormCost::_Q_diag_sqrt
protected

Definition at line 118 of file quadratic_cost.h.

◆ _Q_diagonal_mode

bool corbo::QuadraticFormCost::_Q_diagonal_mode = false
protected

Definition at line 122 of file quadratic_cost.h.

◆ _Q_diagonal_mode_intentionally

bool corbo::QuadraticFormCost::_Q_diagonal_mode_intentionally = false
protected

Definition at line 123 of file quadratic_cost.h.

◆ _Q_sqrt

Eigen::MatrixXd corbo::QuadraticFormCost::_Q_sqrt
protected

Definition at line 114 of file quadratic_cost.h.

◆ _R

Eigen::MatrixXd corbo::QuadraticFormCost::_R
protected

Definition at line 117 of file quadratic_cost.h.

◆ _R_diag

Eigen::DiagonalMatrix<double, -1> corbo::QuadraticFormCost::_R_diag
protected

Definition at line 121 of file quadratic_cost.h.

◆ _R_diag_sqrt

Eigen::DiagonalMatrix<double, -1> corbo::QuadraticFormCost::_R_diag_sqrt
protected

Definition at line 119 of file quadratic_cost.h.

◆ _R_diagonal_mode

bool corbo::QuadraticFormCost::_R_diagonal_mode = false
protected

Definition at line 124 of file quadratic_cost.h.

◆ _R_diagonal_mode_intentionally

bool corbo::QuadraticFormCost::_R_diagonal_mode_intentionally = false
protected

Definition at line 125 of file quadratic_cost.h.

◆ _R_sqrt

Eigen::MatrixXd corbo::QuadraticFormCost::_R_sqrt
protected

Definition at line 115 of file quadratic_cost.h.

◆ _u_ref

const ReferenceTrajectoryInterface* corbo::QuadraticFormCost::_u_ref = nullptr
protected

Definition at line 131 of file quadratic_cost.h.

◆ _x_ref

const ReferenceTrajectoryInterface* corbo::QuadraticFormCost::_x_ref = nullptr
protected

Definition at line 130 of file quadratic_cost.h.

◆ _zero_u_ref

bool corbo::QuadraticFormCost::_zero_u_ref = false
protected

Definition at line 133 of file quadratic_cost.h.

◆ _zero_x_ref

bool corbo::QuadraticFormCost::_zero_x_ref = false
protected

Definition at line 132 of file quadratic_cost.h.

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

control_box_rst
Author(s): Christoph Rösmann
autogenerated on Mon Feb 28 2022 22:08:03