robotoc::STOCostFunction Class Reference

Stack of the cost function of the switching time optimization (STO) problem. Composed by cost function components that inherits STOCostFunctionComponentBase. More...

#include <sto_cost_function.hpp>

Public Types
using	STOCostFunctionComponentBasePtr = std::shared_ptr< STOCostFunctionComponentBase >

Public Member Functions
	STOCostFunction ()
	Default constructor. More...
	~STOCostFunction ()=default
	Default destructor. More...
	STOCostFunction (const STOCostFunction &)=default
	Default copy constructor. More...
STOCostFunction &	operator= (const STOCostFunction &)=default
	Default copy operator. More...
	STOCostFunction (STOCostFunction &&) noexcept=default
	Default move constructor. More...
STOCostFunction &	operator= (STOCostFunction &&) noexcept=default
	Default move assign operator. More...
bool	exist (const std::string &name) const
	Checks if thsi has a STO cost function component of the specified name. More...
void	add (const std::string &name, const STOCostFunctionComponentBasePtr &cost)
	Adds a STO cost function component. If a component of the same name exists, throws an exeption. More...
void	erase (const std::string &name)
	Erases a STO cost function component. If a component of the specified name does not exist, throws an exeption. More...
STOCostFunctionComponentBasePtr	get (const std::string &name) const
	Gets a STO 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...
double	evalCost (const TimeDiscretization &time_discretization) const
	Computes the cost on the switching times. More...
double	linearizeCost (const TimeDiscretization &time_discretization, Eigen::VectorXd &lt) const
	Computes the cost and its derivative on the switching times. More...
double	quadratizeCost (const TimeDiscretization &time_discretization, Eigen::VectorXd &lt, Eigen::MatrixXd &Qtt) const
	Computes the cost and its derivative on the switching times. More...

Detailed Description

Stack of the cost function of the switching time optimization (STO) problem. Composed by cost function components that inherits STOCostFunctionComponentBase.

Member Typedef Documentation

STOCostFunctionComponentBasePtr

using robotoc::STOCostFunction::STOCostFunctionComponentBasePtr = std::shared_ptr<STOCostFunctionComponentBase>

Constructor & Destructor Documentation

STOCostFunction() [1/3]

robotoc::STOCostFunction::STOCostFunction

(

)

Default constructor.

~STOCostFunction()

robotoc::STOCostFunction::~STOCostFunction ( )

default

Default destructor.

STOCostFunction() [2/3]

robotoc::STOCostFunction::STOCostFunction ( const STOCostFunction &  )

default

Default copy constructor.

STOCostFunction() [3/3]

robotoc::STOCostFunction::STOCostFunction ( STOCostFunction &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

add()

void robotoc::STOCostFunction::add	(	const std::string &	name,
		const STOCostFunctionComponentBasePtr &	cost
	)

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

Parameters

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

clear()

void robotoc::STOCostFunction::clear

(

)

Clear cost function by removing all components.

erase()

void robotoc::STOCostFunction::erase

(

const std::string &

name

)

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

Parameters

[in]

name

Name of the STO cost function component.

evalCost()

double robotoc::STOCostFunction::evalCost

(

const TimeDiscretization &

time_discretization

)

const

Computes the cost on the switching times.

Parameters

[in]

time_discretization

Time discretization.

Returns

Cost on the switching times.

exist()

bool robotoc::STOCostFunction::exist

(

const std::string &

name

)

const

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

Parameters

[in]

name

Name of the STO cost function component.

Returns

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

get()

STOCostFunctionComponentBasePtr robotoc::STOCostFunction::get

(

const std::string &

name

)

const

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

Parameters

[in]

name

Name of the STO cost function component.

Returns

Shared ptr to the specified STO cost function component.

linearizeCost()

double robotoc::STOCostFunction::linearizeCost	(	const TimeDiscretization &	time_discretization,
		Eigen::VectorXd &	lt
	)		const

Computes the cost and its derivative on the switching times.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	lt	The derivatives of the Lagrangian w.r.t. the switching times.

operator=() [1/2]

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

default

Default copy operator.

operator=() [2/2]

STOCostFunction & robotoc::STOCostFunction::operator= ( STOCostFunction &&  )

defaultnoexcept

Default move assign operator.

quadratizeCost()

double robotoc::STOCostFunction::quadratizeCost	(	const TimeDiscretization &	time_discretization,
		Eigen::VectorXd &	lt,
		Eigen::MatrixXd &	Qtt
	)		const

Computes the cost and its derivative on the switching times.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	lt	The derivatives of the Lagrangian w.r.t. the switching times.
[in,out]	Qtt	The Hessian of the Lagrangian w.r.t. the switching times.

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

• /github/workspace/include/robotoc/sto/sto_cost_function.hpp