robotoc::STOCostFunctionComponentBase Class Reference

Base class of components of the cost function of the switching time optimization (STO) problem. More...

#include <sto_cost_function_component_base.hpp>

Inheritance diagram for robotoc::STOCostFunctionComponentBase:

Collaboration diagram for robotoc::STOCostFunctionComponentBase:

Public Member Functions
	STOCostFunctionComponentBase ()
	Default constructor. More...
virtual	~STOCostFunctionComponentBase ()
	Destructor. More...
	STOCostFunctionComponentBase (const STOCostFunctionComponentBase &)=default
	Default copy constructor. More...
STOCostFunctionComponentBase &	operator= (const STOCostFunctionComponentBase &)=default
	Default copy operator. More...
	STOCostFunctionComponentBase (STOCostFunctionComponentBase &&) noexcept=default
	Default move constructor. More...
STOCostFunctionComponentBase &	operator= (STOCostFunctionComponentBase &&) noexcept=default
	Default move assign operator. More...
virtual double	evalCost (const TimeDiscretization &time_discretization) const =0
	Computes the cost on the switching times. More...
virtual void	evalCostDerivatives (const TimeDiscretization &time_discretization, Eigen::VectorXd &lt) const =0
	Computes the derivative of the cost on the switching times. More...
virtual void	evalCostHessian (const TimeDiscretization &time_discretization, Eigen::MatrixXd &Qtt) const =0
	Computes the twice-time derivative (Hessian) of the cost on the switching times. 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 the cost function of the switching time optimization (STO) problem.

Constructor & Destructor Documentation

STOCostFunctionComponentBase() [1/3]

robotoc::STOCostFunctionComponentBase::STOCostFunctionComponentBase ( )

inline

Default constructor.

~STOCostFunctionComponentBase()

virtual robotoc::STOCostFunctionComponentBase::~STOCostFunctionComponentBase ( )

inlinevirtual

Destructor.

STOCostFunctionComponentBase() [2/3]

robotoc::STOCostFunctionComponentBase::STOCostFunctionComponentBase ( const STOCostFunctionComponentBase &  )

default

Default copy constructor.

STOCostFunctionComponentBase() [3/3]

robotoc::STOCostFunctionComponentBase::STOCostFunctionComponentBase ( STOCostFunctionComponentBase &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

as_shared_ptr()

template<typename Derived >

std::shared_ptr< Derived > robotoc::STOCostFunctionComponentBase::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.

evalCost()

virtual double robotoc::STOCostFunctionComponentBase::evalCost ( const TimeDiscretization &  time_discretization ) const

pure virtual

Computes the cost on the switching times.

Parameters

[in]

time_discretization

Time discretization of the hybrid optimal control problem.

Returns

Cost on the switching times.

evalCostDerivatives()

virtual void robotoc::STOCostFunctionComponentBase::evalCostDerivatives ( const TimeDiscretization &  time_discretization, Eigen::VectorXd &  lt  ) const

pure virtual

Computes the derivative of the cost on the switching times.

Parameters

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

evalCostHessian()

virtual void robotoc::STOCostFunctionComponentBase::evalCostHessian ( const TimeDiscretization &  time_discretization, Eigen::MatrixXd &  Qtt  ) const

pure virtual

Computes the twice-time derivative (Hessian) of the cost on the switching times.

Parameters

[in]	time_discretization	Time discretization of the hybrid optimal control problem.
[in,out]	Qtt	The Hessian of the Lagrangian w.r.t. the switching times.

operator=() [1/2]

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

default

Default copy operator.

operator=() [2/2]

STOCostFunctionComponentBase & robotoc::STOCostFunctionComponentBase::operator= ( STOCostFunctionComponentBase &&  )

defaultnoexcept

Default move assign operator.

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

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