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

Evaluates the cost at the shots and performs some interpolation in between. More...

#include <CostEvaluatorSimple.h>

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

Public Types
typedef DIMENSIONS::state_vector_t	state_vector_t
typedef DIMENSIONS::control_vector_t	control_vector_t

Public Member Functions
	CostEvaluatorSimple ()=delete
	CostEvaluatorSimple (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< tpl::TimeGrid< SCALAR >> timeGrid, DmsSettings settings)
	Custom constructor. More...
	~CostEvaluatorSimple () override=default
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::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >

Evaluates the cost at the shots and performs some interpolation in between.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control 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::CostEvaluatorSimple< 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::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

Constructor & Destructor Documentation

CostEvaluatorSimple() [1/2]

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

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

delete

CostEvaluatorSimple() [2/2]

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

ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::CostEvaluatorSimple ( 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< tpl::TimeGrid< SCALAR >>  timeGrid, DmsSettings  settings  )

inline

Custom constructor.

Parameters

[in]	costFct	The cost function
[in]	w	The optimization variables
[in]	timeGrid	The time grid
[in]	settings	The dms settings

References ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::eval(), ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evalGradient(), ct::optcon::DmsSettings::N_, and ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::~CostEvaluatorSimple().

~CostEvaluatorSimple()

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

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

overridedefault

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

Member Function Documentation

eval()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

overridevirtual

Evaluates the cost function.

Returns

The evaluates cost function

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

References i, and ct::optcon::DmsSettings::N_.

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

evalGradient()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

overridevirtual

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

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

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::CostEvaluatorSimple< 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/CostEvaluatorSimple.h