An interface for a term, supporting both analytical and auto-diff terms. More...

#include <TermBase.hpp>

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

Public Types
typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, STATE_DIM >	control_state_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, STATE_DIM >	control_state_matrix_double_t

Public Member Functions
	TermBase (std::string name="Unnamed")
	Default constructor. More...

	TermBase (const TermBase &arg)
	Copy Cunstructor. More...

virtual TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > *	clone () const =0
	Deep-copy term. More...

virtual	~TermBase ()
	Destructor. More...

virtual SCALAR	evaluate (const Eigen::Matrix< SCALAR, STATE_DIM, 1 > &x, const Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > &u, const SCALAR &t)=0
	Evaluates the term at x, u, t. More...

SCALAR_EVAL	eval (const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > &x, const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > &u, const SCALAR_EVAL &t)
	Gets called by the analytical costfunction. Adds time dependent activations on top of the term. More...

virtual bool	isActiveAtTime (SCALAR_EVAL t)
	Returns if term is non-zero at a specific time By default, all terms are evaluated at all times. However, if a term is not active at a certain time, you can overload this function to spare evaluations of the term and its derivatives. More...

SCALAR_EVAL	computeActivation (SCALAR_EVAL t)
	compute time activation More...

virtual core::StateVector< STATE_DIM, SCALAR_EVAL >	stateDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute derivative of this cost term w.r.t. the state More...

virtual state_matrix_t	stateSecondDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute second order derivative of this cost term w.r.t. the state More...

virtual core::ControlVector< CONTROL_DIM, SCALAR_EVAL >	controlDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute derivative of this cost term w.r.t. the control input More...

virtual control_matrix_t	controlSecondDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute second order derivative of this cost term w.r.t. the control input More...

virtual control_state_matrix_t	stateControlDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute the cross-term derivative (state-control) of this cost function term More...

virtual void	loadConfigFile (const std::string &filename, const std::string &termName, bool verbose=false)
	load this term from a configuration file More...

void	setTimeActivation (std::shared_ptr< ct::core::tpl::ActivationBase< SCALAR_EVAL >> c_i, bool verbose=false)
	set the time activation functions for this term More...

void	loadTimeActivation (const std::string &filename, const std::string &termName, bool verbose=false)
	load the time activation functions for this term from file More...

const std::string &	getName () const
	Returns the name of the term. More...

void	setName (const std::string &termName)
	Sets the name of the term. More...

virtual void	updateReferenceState (const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > &newRefState)
	updates the reference state for this term More...

virtual void	updateReferenceControl (const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > &newRefControl)
	updates the reference control for this term More...

virtual Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 >	getReferenceState () const
	retrieve this term's current reference state More...

Protected Attributes
std::string	name_
	a name identifier for this term More...

std::shared_ptr< ct::core::tpl::ActivationBase< SCALAR_EVAL > >	c_i_
	time activations for this term More...

Detailed Description

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

An interface for a term, supporting both analytical and auto-diff terms.

Derive from this term to implement your own term. You only have to implement evaluateCppadCg() if you want to use auto-diff. Otherwise, you need to implement evaluate() as well as the derivatives. In case you want to go for the most general implementation, you can implement a local, templated evalLocal() method in derived terms, which gets called by evaluate() and evaluateCppadCg(), see e.g. TermLinear.

An example for an implementation of a custom term is given in TermQuadratic.hpp

Member Typedef Documentation

◆ state_matrix_t

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

typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, STATE_DIM> ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_t

◆ control_matrix_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM> ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_t

◆ control_state_matrix_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, STATE_DIM> ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_state_matrix_t

◆ state_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, STATE_DIM> ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_double_t

◆ control_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM> ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_double_t

◆ control_state_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, STATE_DIM> ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_state_matrix_double_t

Constructor & Destructor Documentation

◆ TermBase() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL , typename SCALAR >

TermBase::TermBase ( std::string name = "Unnamed" )

Default constructor.

Parameters

name	Name of the term

◆ TermBase() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL , typename SCALAR >

TermBase::TermBase ( const TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > & arg )

Copy Cunstructor.

Parameters

arg	The term to copy

◆ ~TermBase()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL , typename SCALAR >

TermBase::~TermBase ( )

virtual

Destructor.

Member Function Documentation

◆ clone()

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

virtual TermBase<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>* ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::clone ( ) const

pure virtual

Deep-copy term.

Returns

◆ evaluate()

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

virtual SCALAR ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate	(	const Eigen::Matrix< SCALAR, STATE_DIM, 1 > &	x,
		const Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > &	u,
		const SCALAR &	t
	)

pure virtual

Evaluates the term at x, u, t.

Parameters

[in]	x	The current state
[in]	u	The current control
[in]	t	The current time

Returns: The evaluatated cost term

Referenced by ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::eval().

◆ eval()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

SCALAR_EVAL TermBase::eval	(	const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > &	x,
		const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > &	u,
		const SCALAR_EVAL &	t
	)

Gets called by the analytical costfunction. Adds time dependent activations on top of the term.

Parameters

[in]	x	The current state
[in]	u	The current control
[in]	t	The current time

Returns: The evaluatated cost term

References ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::computeActivation(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::name_, t, u, and x.

◆ isActiveAtTime()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

bool TermBase::isActiveAtTime ( SCALAR_EVAL t )

virtual

Returns if term is non-zero at a specific time By default, all terms are evaluated at all times. However, if a term is not active at a certain time, you can overload this function to spare evaluations of the term and its derivatives.

Parameters

t time

Returns: true if term is active at t

References ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_i_.

◆ computeActivation()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

SCALAR_EVAL TermBase::computeActivation ( SCALAR_EVAL t )

compute time activation

References ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_i_.

Referenced by ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::eval(), and ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate().

◆ stateDerivative()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

core::StateVector< STATE_DIM, SCALAR_EVAL > TermBase::stateDerivative	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u,
		const SCALAR_EVAL &	t
	)

virtual

compute derivative of this cost term w.r.t. the state

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, and ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ stateSecondDerivative()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_t TermBase::stateSecondDerivative	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u,
		const SCALAR_EVAL &	t
	)

virtual

compute second order derivative of this cost term w.r.t. the state

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, and ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ controlDerivative()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

core::ControlVector< CONTROL_DIM, SCALAR_EVAL > TermBase::controlDerivative	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u,
		const SCALAR_EVAL &	t
	)

virtual

compute derivative of this cost term w.r.t. the control input

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, and ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ controlSecondDerivative()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_t TermBase::controlSecondDerivative	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u,
		const SCALAR_EVAL &	t
	)

virtual

compute second order derivative of this cost term w.r.t. the control input

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, and ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ stateControlDerivative()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_state_matrix_t TermBase::stateControlDerivative	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u,
		const SCALAR_EVAL &	t
	)

virtual

compute the cross-term derivative (state-control) of this cost function term

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, and ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ loadConfigFile()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL , typename SCALAR >

void TermBase::loadConfigFile	(	const std::string &	filename,
		const std::string &	termName,
		bool	verbose = `false`
	)

virtual

load this term from a configuration file

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, and ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ setTimeActivation()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

void TermBase::setTimeActivation	(	std::shared_ptr< ct::core::tpl::ActivationBase< SCALAR_EVAL >>	c_i,
		bool	verbose = `false`
	)

set the time activation functions for this term

References ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_i_.

◆ loadTimeActivation()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL , typename SCALAR >

void TermBase::loadTimeActivation	(	const std::string &	filename,
		const std::string &	termName,
		bool	verbose = `false`
	)

load the time activation functions for this term from file

References ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_i_, and CT_LOADABLE_ACTIVATIONS.

◆ getName()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL , typename SCALAR >

const std::string & TermBase::getName ( ) const

Returns the name of the term.

Parameters

termName name of the term

References ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::name_.

◆ setName()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL , typename SCALAR >

void TermBase::setName ( const std::string & termName )

Sets the name of the term.

Parameters

termName

References ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::name_.

◆ updateReferenceState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

void TermBase::updateReferenceState ( const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > & newRefState )

virtual

updates the reference state for this term

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >, and ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ updateReferenceControl()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR >

void TermBase::updateReferenceControl ( const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > & newRefControl )

virtual

updates the reference control for this term

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ getReferenceState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL , typename SCALAR >

Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > TermBase::getReferenceState ( ) const

virtual

retrieve this term's current reference state

Reimplemented in ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

Member Data Documentation

◆ name_

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

std::string ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::name_

protected

a name identifier for this term

Referenced by ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::eval(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getName(), ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile(), and ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setName().

◆ c_i_

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

std::shared_ptr<ct::core::tpl::ActivationBase<SCALAR_EVAL> > ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_i_

protected

time activations for this term

Referenced by ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::computeActivation(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::isActiveAtTime(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadTimeActivation(), and ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setTimeActivation().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/costfunction/term/TermBase.hpp
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/costfunction/term/TermBase-impl.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ state_matrix_t

◆ control_matrix_t

◆ control_state_matrix_t

◆ state_matrix_double_t

◆ control_matrix_double_t

◆ control_state_matrix_double_t

Constructor & Destructor Documentation

◆ TermBase() [1/2]

◆ TermBase() [2/2]

◆ ~TermBase()

Member Function Documentation

◆ clone()

◆ evaluate()

◆ eval()

◆ isActiveAtTime()

◆ computeActivation()

◆ stateDerivative()

◆ stateSecondDerivative()

◆ controlDerivative()

◆ controlSecondDerivative()

◆ stateControlDerivative()

◆ loadConfigFile()

◆ setTimeActivation()

◆ loadTimeActivation()

◆ getName()

◆ setName()

◆ updateReferenceState()

◆ updateReferenceControl()

◆ getReferenceState()

Member Data Documentation

◆ name_

◆ c_i_

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