Base class of components of cost function. More...

#include <cost_function_component_base.hpp>

Inheritance diagram for robotoc::CostFunctionComponentBase:

[legend]

Collaboration diagram for robotoc::CostFunctionComponentBase:

Public Member Functions
	CostFunctionComponentBase ()
	Default constructor. More...

virtual	~CostFunctionComponentBase ()
	Destructor. More...

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

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

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

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

virtual double	evalStageCost (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const =0
	Computes the stage cost. More...

virtual void	evalStageCostDerivatives (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const =0
	Computes the first-order partial derivatives of the stage cost. This function is always called just after evalStageCost(). More...

virtual void	evalStageCostHessian (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const =0
	Computes the Hessian, i.e., the second-order partial derivatives of the stage cost. This function is always called just after evalStageCostDerivatives(). More...

virtual double	evalTerminalCost (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const =0
	Computes the terminal cost. More...

virtual void	evalTerminalCostDerivatives (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const =0
	Computes the first-order partial derivatives of the terminal cost. This function is always called just after evalTerminalCost(). More...

virtual void	evalTerminalCostHessian (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const =0
	Computes the Hessian, i.e., the second-order partial derivatives of the teminal cost. This function is always called just after evalTerminalCostDerivatives(). More...

virtual double	evalImpactCost (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const =0
	Computes the impact cost. More...

virtual void	evalImpactCostDerivatives (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const =0
	Computes the first-order partial derivatives of the impact cost. This function is always called just after evalImpactCost(). More...

virtual void	evalImpactCostHessian (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const =0
	Computes the Hessian, i.e., the second-order partial derivatives of the impact cost. This function is always called just after evalImpactCostDerivatives(). More...

template<typename Derived >
std::shared_ptr< Derived >	as_shared_ptr ()
	Gets the shared ptr of this object as the specified type. If this fails in dynamic casting, throws an exception. More...

Detailed Description

Base class of components of cost function.

Constructor & Destructor Documentation

◆ CostFunctionComponentBase() [1/3]

robotoc::CostFunctionComponentBase::CostFunctionComponentBase ( )

inline

Default constructor.

◆ ~CostFunctionComponentBase()

virtual robotoc::CostFunctionComponentBase::~CostFunctionComponentBase ( )

inlinevirtual

Destructor.

◆ CostFunctionComponentBase() [2/3]

robotoc::CostFunctionComponentBase::CostFunctionComponentBase ( const CostFunctionComponentBase & )

default

Default copy constructor.

◆ CostFunctionComponentBase() [3/3]

robotoc::CostFunctionComponentBase::CostFunctionComponentBase ( CostFunctionComponentBase && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ as_shared_ptr()

template<typename Derived >

std::shared_ptr< Derived > robotoc::CostFunctionComponentBase::as_shared_ptr ( )

inline

Gets the shared ptr of this object as the specified type. If this fails in dynamic casting, throws an exception.

Template Parameters

Derived The derived type.

Returns: shared ptr of this object as the specified type.

◆ evalImpactCost()

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

pure virtual

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: Impact cost.

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ evalImpactCostDerivatives()

virtual void robotoc::CostFunctionComponentBase::evalImpactCostDerivatives	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

pure virtual

Computes the first-order partial derivatives of the impact cost. This function is always called just after evalImpactCost().

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.

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ evalImpactCostHessian()

virtual void robotoc::CostFunctionComponentBase::evalImpactCostHessian	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTMatrix &	kkt_matrix
	)		const

pure virtual

Computes the Hessian, i.e., the second-order partial derivatives of the impact cost. This function is always called just after evalImpactCostDerivatives().

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_matrix	Impact split KKT matrix. The Hessians are added to this object.

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ evalStageCost()

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

pure virtual

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.

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ evalStageCostDerivatives()

virtual void robotoc::CostFunctionComponentBase::evalStageCostDerivatives	(	Robot &	robot,
		const ContactStatus &	contact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

pure virtual

Computes the first-order partial derivatives of the stage cost. This function is always called just after evalStageCost().

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.

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ evalStageCostHessian()

virtual void robotoc::CostFunctionComponentBase::evalStageCostHessian	(	Robot &	robot,
		const ContactStatus &	contact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTMatrix &	kkt_matrix
	)		const

pure virtual

Computes the Hessian, i.e., the second-order partial derivatives of the stage cost. This function is always called just after evalStageCostDerivatives().

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_matrix	Split KKT matrix. The Hessians are added to this object.

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ evalTerminalCost()

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

pure virtual

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.

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ evalTerminalCostDerivatives()

virtual void robotoc::CostFunctionComponentBase::evalTerminalCostDerivatives	(	Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

pure virtual

Computes the first-order partial derivatives of the terminal cost. This function is always called just after evalTerminalCost().

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.

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ evalTerminalCostHessian()

virtual void robotoc::CostFunctionComponentBase::evalTerminalCostHessian	(	Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTMatrix &	kkt_matrix
	)		const

pure virtual

Computes the Hessian, i.e., the second-order partial derivatives of the teminal cost. This function is always called just after evalTerminalCostDerivatives().

Parameters

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

Implemented in robotoc::CoMCost, robotoc::ConfigurationSpaceCost, robotoc::LocalContactForceCost, robotoc::TaskSpace3DCost, and robotoc::TaskSpace6DCost.

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

CostFunctionComponentBase & robotoc::CostFunctionComponentBase::operator= ( CostFunctionComponentBase && )

defaultnoexcept

Default move assign operator.

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

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CostFunctionComponentBase() [1/3]

◆ ~CostFunctionComponentBase()

◆ CostFunctionComponentBase() [2/3]

◆ CostFunctionComponentBase() [3/3]

Member Function Documentation

◆ as_shared_ptr()

◆ evalImpactCost()

◆ evalImpactCostDerivatives()

◆ evalImpactCostHessian()

◆ evalStageCost()

◆ evalStageCostDerivatives()

◆ evalStageCostHessian()

◆ evalTerminalCost()

◆ evalTerminalCostDerivatives()

◆ evalTerminalCostHessian()

◆ operator=() [1/2]

◆ operator=() [2/2]