ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR > Class Template Reference

Implements an abstract base class which evaluates the cost function and its gradient in the NLP. More...

#include <DiscreteCostEvaluatorBase.h>

Inheritance diagram for ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DiscreteCostEvaluatorBase ()=default
	Default constructor. More...
virtual	~DiscreteCostEvaluatorBase ()=default
	Destructor. More...
virtual SCALAR	eval ()=0
	Evaluates the cost function. More...
virtual void	evalGradient (size_t grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &grad)=0
	Evaluates the cost gradient. 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...

Detailed Description

template<typename SCALAR>
class ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >

Implements an abstract base class which evaluates the cost function and its gradient in the NLP.

Constructor & Destructor Documentation

DiscreteCostEvaluatorBase()

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >::DiscreteCostEvaluatorBase ( )

default

Default constructor.

~DiscreteCostEvaluatorBase()

template<typename SCALAR >

virtual ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >::~DiscreteCostEvaluatorBase ( )

virtualdefault

Destructor.

Member Function Documentation

eval()

template<typename SCALAR >

virtual SCALAR ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >::eval ( )

pure virtual

Evaluates the cost function.

Returns

The evaluates cost function

Implemented in ExampleCostEvaluator< SCALAR >, ExampleCostEvaluator< SCALAR >, ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >.

evalGradient()

template<typename SCALAR >

virtual void ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >::evalGradient ( size_t  grad_length, Eigen::Map< Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >> &  grad  )

pure virtual

Evaluates the cost gradient.

Parameters

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

Implemented in ExampleCostEvaluator< SCALAR >, ExampleCostEvaluator< SCALAR >, ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >.

getSparsityPatternHessian()

template<typename SCALAR >

virtual void ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >::getSparsityPatternHessian ( Eigen::VectorXi &  iRow, Eigen::VectorXi &  jCol  )

inlinevirtual

Reimplemented in ExampleCostEvaluator< SCALAR >, and ExampleCostEvaluator< SCALAR >.

sparseHessianValues()

template<typename SCALAR >

virtual void ct::optcon::tpl::DiscreteCostEvaluatorBase< SCALAR >::sparseHessianValues ( const Eigen::VectorXd &  optVec, const Eigen::VectorXd &  lambda, Eigen::VectorXd &  hes  )

inlinevirtual

Evaluates the cost hessian.

Parameters

[in]	optVec	The optimization variables
[in]	lambda	multipliers for hessian matrix
[out]	hes	The cost hessian matrix coeff

Reimplemented in ExampleCostEvaluator< SCALAR >, and ExampleCostEvaluator< SCALAR >.

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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/nlp/DiscreteCostEvaluatorBase.h