A basic quadratic term of type $ J = x^T Q x + u^T R u $ . More...

#include <TermQuadratic.hpp>

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

Public Types
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 Types inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
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
	TermQuadratic ()

	TermQuadratic (const state_matrix_t &Q, const control_matrix_t &R)

	TermQuadratic (const state_matrix_t &Q, const control_matrix_t &R, const core::StateVector< STATE_DIM, SCALAR_EVAL > &x_ref, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u_ref)

	TermQuadratic (const std::string &configFile, const std::string &termName, bool verbose=false)

	TermQuadratic (const TermQuadratic &arg)

virtual	~TermQuadratic ()

virtual TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > *	clone () const override
	Deep-copy term. More...

void	setWeights (const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM > &Q, const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM > &R)

const state_matrix_t &	getStateWeight () const

state_matrix_t &	getStateWeight ()

const control_matrix_t &	getControlWeight () const

control_matrix_t &	getControlWeight ()

void	setStateAndControlReference (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x_ref, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u_ref)

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

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

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

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

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

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) override
	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) override
	load this term from a configuration file More...

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

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

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

Public Member Functions inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
	TermBase (std::string name="Unnamed")
	Default constructor. More...

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

virtual	~TermBase ()
	Destructor. 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...

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...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_t

Protected Member Functions
template<typename SC >
SC	evalLocal (const Eigen::Matrix< SC, STATE_DIM, 1 > &x, const Eigen::Matrix< SC, CONTROL_DIM, 1 > &u, const SC &t)

Protected Attributes
state_matrix_t	Q_

control_matrix_t	R_

core::StateVector< STATE_DIM, SCALAR_EVAL >	x_ref_

core::ControlVector< CONTROL_DIM, SCALAR_EVAL >	u_ref_

Protected Attributes inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
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::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >

A basic quadratic term of type $ J = x^T Q x + u^T R u $ .

An example for using this term is given in CostFunctionTest.cpp

Examples:: DMS.cpp, LQR.cpp, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, and NLOC_MPC.cpp.

Member Typedef Documentation

◆ 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::TermQuadratic< 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::TermQuadratic< 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::TermQuadratic< 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::TermQuadratic< 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::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_state_matrix_double_t

Constructor & Destructor Documentation

◆ TermQuadratic() [1/5]

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

ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic ( )

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

Referenced by ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::clone(), and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic().

◆ TermQuadratic() [2/5]

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

ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic	(	const state_matrix_t &	Q,
		const control_matrix_t &	R
	)

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

◆ TermQuadratic() [3/5]

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

ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic	(	const state_matrix_t &	Q,
		const control_matrix_t &	R,
		const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x_ref,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u_ref
	)

◆ TermQuadratic() [4/5]

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

ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic	(	const std::string &	configFile,
		const std::string &	termName,
		bool	verbose = `false`
	)

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

◆ TermQuadratic() [5/5]

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

ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic ( const TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > & arg )

◆ ~TermQuadratic()

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

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

virtual

Member Function Documentation

◆ clone()

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

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

overridevirtual

Deep-copy term.

Returns

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

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic().

◆ setWeights()

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

void ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setWeights	(	const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM > &	Q,
		const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM > &	R
	)

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_.

◆ getStateWeight() [1/2]

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

const TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_t & ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getStateWeight ( ) const

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_.

◆ getStateWeight() [2/2]

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

TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_t & ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getStateWeight ( )

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_.

◆ getControlWeight() [1/2]

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

const TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_t & ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getControlWeight ( ) const

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_.

◆ getControlWeight() [2/2]

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

TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_t & ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getControlWeight ( )

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_.

◆ setStateAndControlReference()

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

void ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setStateAndControlReference	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x_ref,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u_ref
	)

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

◆ evaluate()

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

SCALAR ct::optcon::TermQuadratic< 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
	)

overridevirtual

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

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

References t, u, and x.

◆ stateDerivative()

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

ct::core::StateVector< STATE_DIM, SCALAR_EVAL > ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateDerivative	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u,
		const SCALAR_EVAL &	t
	)

overridevirtual

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

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

◆ stateSecondDerivative()

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

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

overridevirtual

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

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_.

Referenced by main().

◆ controlDerivative()

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

core::ControlVector< CONTROL_DIM, SCALAR_EVAL > ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlDerivative	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x,
		const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u,
		const SCALAR_EVAL &	t
	)

overridevirtual

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

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_.

◆ controlSecondDerivative()

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

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

overridevirtual

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

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_.

Referenced by main().

◆ stateControlDerivative()

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

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

overridevirtual

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

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

◆ loadConfigFile()

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

void ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile	(	const std::string &	filename,
		const std::string &	termName,
		bool	verbose = `false`
	)

overridevirtual

load this term from a configuration file

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::loadMatrixCF(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::name_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

Referenced by main(), and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic().

◆ updateReferenceState()

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

void ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::updateReferenceState ( const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > & newRefState )

overridevirtual

updates the reference state for this term

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

◆ updateReferenceControl()

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

void ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::updateReferenceControl ( const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > & newRefControl )

overridevirtual

updates the reference control for this term

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_.

◆ getReferenceState()

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

Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getReferenceState ( ) const

overridevirtual

retrieve this term's current reference state

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

◆ evalLocal()

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

template<typename SC >

SC ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal	(	const Eigen::Matrix< SC, STATE_DIM, 1 > &	x,
		const Eigen::Matrix< SC, CONTROL_DIM, 1 > &	u,
		const SC &	t
	)

protected

References ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_, ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

Member Data Documentation

◆ state_matrix_t

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

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

◆ Q_

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

state_matrix_t ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_

protected

Referenced by ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getStateWeight(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setWeights(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateDerivative(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateSecondDerivative(), and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic().

◆ R_

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

control_matrix_t ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_

protected

Referenced by ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlDerivative(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlSecondDerivative(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getControlWeight(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setWeights(), and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic().

◆ x_ref_

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

core::StateVector<STATE_DIM, SCALAR_EVAL> ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_

protected

Referenced by ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::getReferenceState(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setStateAndControlReference(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateDerivative(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic(), and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::updateReferenceState().

◆ u_ref_

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

core::ControlVector<CONTROL_DIM, SCALAR_EVAL> ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_

protected

Referenced by ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlDerivative(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setStateAndControlReference(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermQuadratic(), and ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::updateReferenceControl().

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

Public Types

Public Member Functions

Public Attributes

Protected 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::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >

Member Typedef Documentation

◆ control_matrix_t

◆ control_state_matrix_t

◆ state_matrix_double_t

◆ control_matrix_double_t

◆ control_state_matrix_double_t

Constructor & Destructor Documentation

◆ TermQuadratic() [1/5]

◆ TermQuadratic() [2/5]

◆ TermQuadratic() [3/5]

◆ TermQuadratic() [4/5]

◆ TermQuadratic() [5/5]

◆ ~TermQuadratic()

Member Function Documentation

◆ clone()

◆ setWeights()

◆ getStateWeight() [1/2]

◆ getStateWeight() [2/2]

◆ getControlWeight() [1/2]

◆ getControlWeight() [2/2]

◆ setStateAndControlReference()

◆ evaluate()

◆ stateDerivative()

◆ stateSecondDerivative()

◆ controlDerivative()

◆ controlSecondDerivative()

◆ stateControlDerivative()

◆ loadConfigFile()

◆ updateReferenceState()

◆ updateReferenceControl()

◆ getReferenceState()

◆ evalLocal()

Member Data Documentation

◆ state_matrix_t

◆ Q_

◆ R_

◆ x_ref_

◆ u_ref_

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