ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR > Class Template Reference

Performs the full cost integration over the shots. More...

#include <CostEvaluatorFull.h>

Inheritance diagram for ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Types
typedef DIMENSIONS::state_vector_t	state_vector_t
typedef DIMENSIONS::control_vector_t	control_vector_t
typedef DIMENSIONS::state_vector_array_t	state_vector_array_t
typedef DIMENSIONS::control_vector_array_t	control_vector_array_t
typedef DIMENSIONS::time_array_t	time_array_t

Public Member Functions
	CostEvaluatorFull ()=delete
	CostEvaluatorFull (std::shared_ptr< ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >> costFct, std::shared_ptr< OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >> w, std::shared_ptr< SplinerBase< control_vector_t, SCALAR >> controlSpliner, std::vector< std::shared_ptr< ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >>> shotInt, DmsSettings settings)
	Custom constructor. More...
	~CostEvaluatorFull () override=default
	The destructor. More...
SCALAR	eval () override
	Evaluates the cost function. More...
void	evalGradient (size_t grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &grad) override
	Evaluates the cost gradient. More...
Public Member Functions inherited from ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DiscreteCostEvaluatorBase ()=default
	Default constructor. More...
virtual	~DiscreteCostEvaluatorBase ()=default
	Destructor. More...
virtual void	getSparsityPatternHessian (Eigen::VectorXi &iRow, Eigen::VectorXi &jCol)
virtual void	sparseHessianValues (const Eigen::VectorXd &optVec, const Eigen::VectorXd &lambda, Eigen::VectorXd &hes)
	Evaluates the cost hessian. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >	DIMENSIONS

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >

Performs the full cost integration over the shots.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The input dimension

Member Typedef Documentation

state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::state_vector_t ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::control_vector_t ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

state_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::state_vector_array_t ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_array_t

control_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::control_vector_array_t ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_array_t

time_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::time_array_t ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::time_array_t

Constructor & Destructor Documentation

CostEvaluatorFull() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::CostEvaluatorFull ( )

delete

CostEvaluatorFull() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::CostEvaluatorFull ( std::shared_ptr< ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >>  costFct, std::shared_ptr< OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >>  w, std::shared_ptr< SplinerBase< control_vector_t, SCALAR >>  controlSpliner, std::vector< std::shared_ptr< ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >>>  shotInt, DmsSettings  settings  )

inline

Custom constructor.

Parameters

[in]	costFct	The cost function
[in]	w	The optimization vector
[in]	controlSpliner	The control spliner
[in]	shotInt	The shot number
[in]	settings	The dms settings

References ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::~CostEvaluatorFull().

~CostEvaluatorFull()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::~CostEvaluatorFull ( )

overridedefault

The destructor.

Referenced by ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::CostEvaluatorFull().

Member Function Documentation

eval()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

SCALAR ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::eval ( )

inlineoverridevirtual

Evaluates the cost function.

Returns

The evaluates cost function

Implements ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

References ct::optcon::DmsSettings::N_.

evalGradient()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

void ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::evalGradient ( size_t  grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &  grad  )

inlineoverridevirtual

Evaluates the cost gradient.

Parameters

[in]	grad_length	The size of the gradient vector
[out]	grad	The values of the gradient

Implements ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >.

References ct::optcon::DmsSettings::N_, ct::optcon::DmsSettings::PIECEWISE_LINEAR, ct::optcon::DmsSettings::splineType_, and ct::optcon::DmsSettings::ZERO_ORDER_HOLD.

Member Data Documentation

DIMENSIONS

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::DIMENSIONS

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/dms/dms_core/cost_evaluator/CostEvaluatorFull.h