Stack of the cost function. Composed by cost function components that inherits CostFunctionComponentBase. More...

#include <cost_function.hpp>

Public Types
using	CostFunctionComponentBasePtr = std::shared_ptr< CostFunctionComponentBase >

Public Member Functions
	CostFunction (const double discount_factor, const double discount_time_step)
	Constructor with discount factor. More...

	CostFunction ()
	Default constructor. More...

	~CostFunction ()=default
	Destructor. More...

	CostFunction (const CostFunction &)=default
	Default copy constructor. More...

CostFunction &	operator= (const CostFunction &)=default
	Default copy operator. More...

	CostFunction (CostFunction &&) noexcept=default
	Default move constructor. More...

CostFunction &	operator= (CostFunction &&) noexcept=default
	Default move assign operator. More...

void	setDiscountFactor (const double discount_factor, const double discount_time_step)
	Sets the discount facor. More...

double	discountFactor () const
	Gets the discount facor. More...

double	discountTimeStep () const
	Gets the discount time step. More...

bool	exist (const std::string &name) const
	Checks if thsi has a cost function component of the specified name. More...

void	add (const std::string &name, const CostFunctionComponentBasePtr &cost)
	Adds a cost function component. If a component of the same name exists, throws an exeption. More...

void	erase (const std::string &name)
	Erases a cost function component. If a component of the specified name does not exist, throws an exeption. More...

CostFunctionComponentBasePtr	get (const std::string &name) const
	Gets a cost function component. If a component of the specified name does not exist, throws an exeption. More...

void	clear ()
	Clear cost function by removing all components. More...

CostFunctionData	createCostFunctionData (const Robot &robot) const
	Creates CostFunctionData according to robot model and cost function components. More...

double	evalStageCost (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const
	Computes the stage cost. More...

double	linearizeStageCost (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const
	Computes the stage cost and its first-order partial derivatives. More...

double	quadratizeStageCost (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual, SplitKKTMatrix &kkt_matrix) const
	Computes the stage cost, its first-order partial derivatives, and its Hessian, i.e., its second-order partial derivatives. More...

double	evalTerminalCost (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const
	Computes the terminal cost. More...

double	linearizeTerminalCost (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const
	Computes the terminal cost and its first-order partial derivatives. More...

double	quadratizeTerminalCost (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual, SplitKKTMatrix &kkt_matrix) const
	Computes the terminal cost, its first-order partial derivatives, and its Hessian, i.e., its second-order partial derivatives. More...

double	evalImpactCost (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const
	Computes the impact cost. More...

double	linearizeImpactCost (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const
	Computes the impact cost and its first-order partial derivatives. More...

double	quadratizeImpactCost (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual, SplitKKTMatrix &kkt_matrix) const
	Computes the impact cost, its first-order partial derivatives, and its Hessian, i.e., its second-order partial derivatives. More...

std::vector< std::string >	getCostComponentList () const
	Gets a list of the cost components. More...

void	disp (std::ostream &os) const
	Displays the cost function onto a ostream. More...

Friends
std::ostream &	operator<< (std::ostream &os, const CostFunction &cost_function)

std::ostream &	operator<< (std::ostream &os, const std::shared_ptr< CostFunction > &cost_function)

Detailed Description

Stack of the cost function. Composed by cost function components that inherits CostFunctionComponentBase.

Member Typedef Documentation

◆ CostFunctionComponentBasePtr

using robotoc::CostFunction::CostFunctionComponentBasePtr = std::shared_ptr<CostFunctionComponentBase>

Constructor & Destructor Documentation

◆ CostFunction() [1/4]

robotoc::CostFunction::CostFunction	(	const double	discount_factor,
		const double	discount_time_step
	)

Constructor with discount factor.

Parameters

[in]	discount_factor	Discount factor. Must be positive and smaller than 1.0.
[in]	discount_time_step	The cost is reduced by discount_factor as the time proceeds to this value. Must be positive.

◆ CostFunction() [2/4]

robotoc::CostFunction::CostFunction ( )

Default constructor.

◆ ~CostFunction()

robotoc::CostFunction::~CostFunction ( )

default

Destructor.

◆ CostFunction() [3/4]

robotoc::CostFunction::CostFunction ( const CostFunction & )

default

Default copy constructor.

◆ CostFunction() [4/4]

robotoc::CostFunction::CostFunction ( CostFunction && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ add()

void robotoc::CostFunction::add	(	const std::string &	name,
		const CostFunctionComponentBasePtr &	cost
	)

Adds a cost function component. If a component of the same name exists, throws an exeption.

Parameters

[in]	name	Name of the cost function component.
[in]	cost	shared pointer to the cost function component.

◆ clear()

void robotoc::CostFunction::clear ( )

Clear cost function by removing all components.

◆ createCostFunctionData()

CostFunctionData robotoc::CostFunction::createCostFunctionData ( const Robot & robot ) const

Creates CostFunctionData according to robot model and cost function components.

Parameters

[in] robot robot model.

Returns: Cost function data.

◆ discountFactor()

double robotoc::CostFunction::discountFactor ( ) const

Gets the discount facor.

Returns: The discount facor.

◆ discountTimeStep()

double robotoc::CostFunction::discountTimeStep ( ) const

Gets the discount time step.

Returns: The discount time step.

◆ disp()

void robotoc::CostFunction::disp ( std::ostream & os ) const

Displays the cost function onto a ostream.

◆ erase()

void robotoc::CostFunction::erase ( const std::string & name )

Erases a cost function component. If a component of the specified name does not exist, throws an exeption.

Parameters

[in] name Name of the cost function component.

◆ evalImpactCost()

double robotoc::CostFunction::evalImpactCost	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s
	)		const

Computes the impact cost.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.

Returns: Stage cost.

◆ evalStageCost()

double robotoc::CostFunction::evalStageCost	(	Robot &	robot,
		const ContactStatus &	contact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s
	)		const

Computes the stage cost.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.

Returns: Stage cost.

◆ evalTerminalCost()

double robotoc::CostFunction::evalTerminalCost	(	Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s
	)		const

Computes the terminal cost.

Parameters

[in]	robot	Robot model.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.

Returns: Terminal cost.

◆ exist()

bool robotoc::CostFunction::exist ( const std::string & name ) const

Checks if thsi has a cost function component of the specified name.

Parameters

[in] name Name of the cost function component.

Returns: treu if a cost function component of the specified name exists.

◆ get()

CostFunctionComponentBasePtr robotoc::CostFunction::get ( const std::string & name ) const

Gets a cost function component. If a component of the specified name does not exist, throws an exeption.

Parameters

[in] name Name of the cost function component.

Returns: Shared ptr to the specified cost function component.

◆ getCostComponentList()

std::vector< std::string > robotoc::CostFunction::getCostComponentList ( ) const

Gets a list of the cost components.

Returns: Name list of cost components.

◆ linearizeImpactCost()

double robotoc::CostFunction::linearizeImpactCost	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

Computes the impact cost and its first-order partial derivatives.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.

Returns: Stage cost.

◆ linearizeStageCost()

double robotoc::CostFunction::linearizeStageCost	(	Robot &	robot,
		const ContactStatus &	contact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

Computes the stage cost and its first-order partial derivatives.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.

Returns: Stage cost.

◆ linearizeTerminalCost()

double robotoc::CostFunction::linearizeTerminalCost	(	Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

Computes the terminal cost and its first-order partial derivatives.

Parameters

[in]	robot	Robot model.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.

Returns: Stage cost.

◆ operator=() [1/2]

CostFunction & robotoc::CostFunction::operator= ( const CostFunction & )

default

Default copy operator.

◆ operator=() [2/2]

CostFunction & robotoc::CostFunction::operator= ( CostFunction && )

defaultnoexcept

Default move assign operator.

◆ quadratizeImpactCost()

double robotoc::CostFunction::quadratizeImpactCost	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual,
		SplitKKTMatrix &	kkt_matrix
	)		const

Computes the impact cost, its first-order partial derivatives, and its Hessian, i.e., its second-order partial derivatives.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.
[in,out]	kkt_matrix	Split KKT matrix. The Hessians are added to this object.

Returns: Stage cost.

◆ quadratizeStageCost()

double robotoc::CostFunction::quadratizeStageCost	(	Robot &	robot,
		const ContactStatus &	contact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual,
		SplitKKTMatrix &	kkt_matrix
	)		const

Computes the stage cost, its first-order partial derivatives, and its Hessian, i.e., its second-order partial derivatives.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.
[in,out]	kkt_matrix	Split KKT matrix. The Hessians are added to this object.

Returns: Stage cost.

◆ quadratizeTerminalCost()

double robotoc::CostFunction::quadratizeTerminalCost	(	Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual,
		SplitKKTMatrix &	kkt_matrix
	)		const

Computes the terminal cost, its first-order partial derivatives, and its Hessian, i.e., its second-order partial derivatives.

Parameters

[in]	robot	Robot model.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.
[in,out]	kkt_matrix	Split KKT matrix. The Hessians are added to this object.

Returns: Stage cost.

◆ setDiscountFactor()

void robotoc::CostFunction::setDiscountFactor	(	const double	discount_factor,
		const double	discount_time_step
	)

Sets the discount facor.

Parameters

[in]	discount_factor	Discount factor. Must be positive and smaller than 1.0. Otherwise, the discounted cost is disabled.
[in]	discount_time_step	The cost is reduced by discount_factor as the time proceeds to this value. Must be positive. Otherwise, the discounted cost is disabled.

Friends And Related Function Documentation

◆ operator<< [1/2]

std::ostream & operator<<	(	std::ostream &	os,
		const CostFunction &	cost_function
	)

friend

◆ operator<< [2/2]

std::ostream & operator<<	(	std::ostream &	os,
		const std::shared_ptr< CostFunction > &	cost_function
	)

friend

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

/github/workspace/include/robotoc/cost/cost_function.hpp

Public Types

Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ CostFunctionComponentBasePtr

Constructor & Destructor Documentation

◆ CostFunction() [1/4]

◆ CostFunction() [2/4]

◆ ~CostFunction()

◆ CostFunction() [3/4]

◆ CostFunction() [4/4]

Member Function Documentation

◆ add()

◆ clear()

◆ createCostFunctionData()

◆ discountFactor()

◆ discountTimeStep()

◆ disp()

◆ erase()

◆ evalImpactCost()

◆ evalStageCost()

◆ evalTerminalCost()

◆ exist()

◆ get()

◆ getCostComponentList()

◆ linearizeImpactCost()

◆ linearizeStageCost()

◆ linearizeTerminalCost()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ quadratizeImpactCost()

◆ quadratizeStageCost()

◆ quadratizeTerminalCost()

◆ setDiscountFactor()

Friends And Related Function Documentation

◆ operator<< [1/2]

◆ operator<< [2/2]