aligator  0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
Loading...
Searching...
No Matches
Public Types | Public Member Functions | List of all members
aligator::ConstraintProximalScalerTpl< Scalar > Class Template Reference

Weighting strategy for the constraints in a stack. More...

#include <aligator/core/alm-weights.hpp>

Public Types

using ConstraintStack = ConstraintStackTpl<Scalar>
 

Public Member Functions

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
 ConstraintProximalScalerTpl (const ConstraintStack &constraints, const Scalar &mu)
 
std::size_t size () const
 
void setWeight (const Scalar w, std::size_t j)
 
template<typename D >
void setWeights (const Eigen::MatrixBase< D > &weights)
 Set all weights at once.
 
template<typename D >
auto apply (const Eigen::MatrixBase< D > &m) const
 Apply weighted penalty matrix.
 
template<typename D >
auto applyInverse (const Eigen::MatrixBase< D > &m) const
 
template<typename D >
Scalar weightedNorm (const Eigen::MatrixBase< D > &m) const
 
auto diagMatrix () const
 

Detailed Description

template<typename Scalar>
class aligator::ConstraintProximalScalerTpl< Scalar >

Weighting strategy for the constraints in a stack.

Definition at line 9 of file alm-weights.hpp.

Member Typedef Documentation

◆ ConstraintStack

template<typename Scalar >
using aligator::ConstraintProximalScalerTpl< Scalar >::ConstraintStack = ConstraintStackTpl<Scalar>

Definition at line 12 of file alm-weights.hpp.

Constructor & Destructor Documentation

◆ ConstraintProximalScalerTpl()

template<typename Scalar >
aligator::ConstraintProximalScalerTpl< Scalar >::ConstraintProximalScalerTpl ( const ConstraintStack & constraints,
const Scalar & mu )
inline

Definition at line 14 of file alm-weights.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >
aligator::ConstraintProximalScalerTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ size()

template<typename Scalar >
std::size_t aligator::ConstraintProximalScalerTpl< Scalar >::size ( ) const
inline

Definition at line 21 of file alm-weights.hpp.

◆ setWeight()

template<typename Scalar >
void aligator::ConstraintProximalScalerTpl< Scalar >::setWeight ( const Scalar w,
std::size_t j )
inline

Definition at line 23 of file alm-weights.hpp.

◆ setWeights()

template<typename Scalar >
template<typename D >
void aligator::ConstraintProximalScalerTpl< Scalar >::setWeights ( const Eigen::MatrixBase< D > & weights)
inline

Set all weights at once.

Definition at line 28 of file alm-weights.hpp.

◆ apply()

template<typename Scalar >
template<typename D >
auto aligator::ConstraintProximalScalerTpl< Scalar >::apply ( const Eigen::MatrixBase< D > & m) const
inline

Apply weighted penalty matrix.

Definition at line 36 of file alm-weights.hpp.

◆ applyInverse()

template<typename Scalar >
template<typename D >
auto aligator::ConstraintProximalScalerTpl< Scalar >::applyInverse ( const Eigen::MatrixBase< D > & m) const
inline

Definition at line 40 of file alm-weights.hpp.

◆ weightedNorm()

template<typename Scalar >
template<typename D >
Scalar aligator::ConstraintProximalScalerTpl< Scalar >::weightedNorm ( const Eigen::MatrixBase< D > & m) const
inline

Definition at line 45 of file alm-weights.hpp.

◆ diagMatrix()

template<typename Scalar >
auto aligator::ConstraintProximalScalerTpl< Scalar >::diagMatrix ( ) const
inline

Definition at line 50 of file alm-weights.hpp.

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