robotoc
robotoc - efficient ROBOT Optimal Control solvers
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Public Member Functions | List of all members
robotoc::DerivativeChecker Class Reference

#include <derivative_checker.hpp>

Public Member Functions

 DerivativeChecker (const Robot &robot, const double finite_diff=1.0e-08, const double test_tol=1.0e-03)
 
 ~DerivativeChecker ()
 
void setFiniteDifference (const double finite_diff=1.0e-08)
 
void setTestTolerance (const double test_tol=1.0e-03)
 
bool checkFirstOrderStageCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost)
 
bool checkSecondOrderStageCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost)
 
bool checkFirstOrderStageCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost, const ContactStatus &contact_status)
 
bool checkSecondOrderStageCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost, const ContactStatus &contact_status)
 
bool checkFirstOrderTerminalCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost)
 
bool checkSecondOrderTerminalCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost)
 
bool checkFirstOrderImpactCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost)
 
bool checkSecondOrderImpactCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost)
 
bool checkFirstOrderImpactCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost, const ImpactStatus &impact_status)
 
bool checkSecondOrderImpactCostDerivatives (const std::shared_ptr< CostFunctionComponentBase > &cost, const ImpactStatus &impact_status)
 

Constructor & Destructor Documentation

◆ DerivativeChecker()

robotoc::DerivativeChecker::DerivativeChecker ( const Robot &  robot,
const double  finite_diff = 1.0e-08,
const double  test_tol = 1.0e-03 
)
explicit

◆ ~DerivativeChecker()

robotoc::DerivativeChecker::~DerivativeChecker ( )

Member Function Documentation

◆ checkFirstOrderImpactCostDerivatives() [1/2]

bool robotoc::DerivativeChecker::checkFirstOrderImpactCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost)

◆ checkFirstOrderImpactCostDerivatives() [2/2]

bool robotoc::DerivativeChecker::checkFirstOrderImpactCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost,
const ImpactStatus &  impact_status 
)

◆ checkFirstOrderStageCostDerivatives() [1/2]

bool robotoc::DerivativeChecker::checkFirstOrderStageCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost)

◆ checkFirstOrderStageCostDerivatives() [2/2]

bool robotoc::DerivativeChecker::checkFirstOrderStageCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost,
const ContactStatus &  contact_status 
)

◆ checkFirstOrderTerminalCostDerivatives()

bool robotoc::DerivativeChecker::checkFirstOrderTerminalCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost)

◆ checkSecondOrderImpactCostDerivatives() [1/2]

bool robotoc::DerivativeChecker::checkSecondOrderImpactCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost)

◆ checkSecondOrderImpactCostDerivatives() [2/2]

bool robotoc::DerivativeChecker::checkSecondOrderImpactCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost,
const ImpactStatus &  impact_status 
)

◆ checkSecondOrderStageCostDerivatives() [1/2]

bool robotoc::DerivativeChecker::checkSecondOrderStageCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost)

◆ checkSecondOrderStageCostDerivatives() [2/2]

bool robotoc::DerivativeChecker::checkSecondOrderStageCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost,
const ContactStatus &  contact_status 
)

◆ checkSecondOrderTerminalCostDerivatives()

bool robotoc::DerivativeChecker::checkSecondOrderTerminalCostDerivatives ( const std::shared_ptr< CostFunctionComponentBase > &  cost)

◆ setFiniteDifference()

void robotoc::DerivativeChecker::setFiniteDifference ( const double  finite_diff = 1.0e-08)

◆ setTestTolerance()

void robotoc::DerivativeChecker::setTestTolerance ( const double  test_tol = 1.0e-03)
The documentation for this class was generated from the following file: