aligator
0.9.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include "aligator/gar/blk-matrix.hpp"
#include "aligator/eigen-macros.hpp"
#include "aligator/tracy.hpp"
Go to the source code of this file.
Namespaces | |
namespace | aligator |
Main package namespace. | |
namespace | aligator::gar |
Functions | |
template<typename MatrixType > | |
MatrixType::PlainObject | aligator::gar::blockTridiagToDenseMatrix (const std::vector< MatrixType > &subdiagonal, const std::vector< MatrixType > &diagonal, const std::vector< MatrixType > &superdiagonal) |
template<typename MatrixType , typename InputType , typename OutType , typename Scalar = typename MatrixType::Scalar> | |
bool | aligator::gar::blockTridiagMatMul (const std::vector< MatrixType > &Asub, const std::vector< MatrixType > &Adiag, const std::vector< MatrixType > &Asuper, const BlkMatrix< InputType, -1, 1 > &b, BlkMatrix< OutType, -1, 1 > &c, const Scalar beta) |
template<typename MatrixType , typename RhsType , typename DecType > | |
bool | aligator::gar::symmetricBlockTridiagSolve (std::vector< MatrixType > &subdiagonal, std::vector< MatrixType > &diagonal, const std::vector< MatrixType > &superdiagonal, BlkMatrix< RhsType, -1, 1 > &rhs, std::vector< DecType > &facs) |
Solve a symmetric block-tridiagonal \(Ax=b\) problem by in-place factorization. The subdiagonal will be used to store factorization coefficients. | |
template<typename MatrixType , typename RhsType , typename DecType > | |
bool | aligator::gar::blockTridiagRefinementStep (const std::vector< MatrixType > &transposedUfacs, const std::vector< MatrixType > &superdiagonal, const std::vector< DecType > &diagonalFacs, BlkMatrix< RhsType, -1, 1 > &rhs) |
Given the decomposed matrix data, just perform the backward-forward step of the algorithm. | |
template<typename MatrixType , typename RhsType , typename DecType > | |
bool | aligator::gar::symmetricBlockTridiagSolveDownLooking (std::vector< MatrixType > &subdiagonal, std::vector< MatrixType > &diagonal, std::vector< MatrixType > &superdiagonal, BlkMatrix< RhsType, -1, 1 > &rhs, std::vector< DecType > &facs) |
Solve a symmetric block-tridiagonal \(Ax=b\) problem by in-place factorization. The subdiagonal will be used to store factorization coefficients. This version starts by looking down from the top-left corner of the matrix. | |