aligator::gar::ProximalRiccatiSolver< _Scalar > Class Template Reference

A Riccati-like solver for the proximal LQ subproblem in ProxDDP. More...

#include </home/runner/work/aligator/aligator/gar/include/aligator/gar/proximal-riccati.hpp>

Inheritance diagram for aligator::gar::ProximalRiccatiSolver< _Scalar >:

Collaboration diagram for aligator::gar::ProximalRiccatiSolver< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = RiccatiSolverBase<Scalar>
using	StageFactorVec = std::vector<StageFactor<Scalar>>
using	Impl = ProximalRiccatiKernel<Scalar>
using	StageFactorType = StageFactor<Scalar>
using	value_t = typename StageFactorType::value_t
using	kkt0_t = typename Impl::kkt0_t
using	KnotType = LQRKnotTpl<Scalar>
Public Types inherited from aligator::gar::RiccatiSolverBase< _Scalar >
using	Scalar = _Scalar
using	LQRKnot = LQRKnotTpl<double>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES (Scalar)
	ProximalRiccatiSolver (const LQRProblemTpl< Scalar > &problem)
bool	backward (const Scalar mudyn, const Scalar mueq)
	Backward sweep.
bool	forward (std::vector< VectorXs > &xs, std::vector< VectorXs > &us, std::vector< VectorXs > &vs, std::vector< VectorXs > &lbdas, const std::optional< ConstVectorRef > &theta=std::nullopt) const
void	cycleAppend (const KnotType &knot)
VectorRef	getFeedforward (size_t i)
RowMatrixRef	getFeedback (size_t i)
Public Member Functions inherited from aligator::gar::RiccatiSolverBase< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES (Scalar)
virtual void	cycleAppend (const LQRKnot &knot)=0
virtual void	collapseFeedback ()
virtual	~RiccatiSolverBase ()=default

Public Attributes
StageFactorVec	datas
kkt0_t	kkt0
VectorXs	thGrad
MatrixXs	thHess

Protected Attributes
const LQRProblemTpl< Scalar > *	problem_

Detailed Description

template<typename _Scalar>
class aligator::gar::ProximalRiccatiSolver< _Scalar >

A Riccati-like solver for the proximal LQ subproblem in ProxDDP.

Definition at line 11 of file proximal-riccati.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

using aligator::gar::ProximalRiccatiSolver< _Scalar >::Scalar = _Scalar

Definition at line 13 of file proximal-riccati.hpp.

Base

template<typename _Scalar >

using aligator::gar::ProximalRiccatiSolver< _Scalar >::Base = RiccatiSolverBase<Scalar>

Definition at line 15 of file proximal-riccati.hpp.

StageFactorVec

template<typename _Scalar >

using aligator::gar::ProximalRiccatiSolver< _Scalar >::StageFactorVec = std::vector<StageFactor<Scalar>>

Definition at line 16 of file proximal-riccati.hpp.

Impl

template<typename _Scalar >

using aligator::gar::ProximalRiccatiSolver< _Scalar >::Impl = ProximalRiccatiKernel<Scalar>

Definition at line 19 of file proximal-riccati.hpp.

StageFactorType

template<typename _Scalar >

using aligator::gar::ProximalRiccatiSolver< _Scalar >::StageFactorType = StageFactor<Scalar>

Definition at line 20 of file proximal-riccati.hpp.

value_t

template<typename _Scalar >

using aligator::gar::ProximalRiccatiSolver< _Scalar >::value_t = typename StageFactorType::value_t

Definition at line 21 of file proximal-riccati.hpp.

kkt0_t

template<typename _Scalar >

using aligator::gar::ProximalRiccatiSolver< _Scalar >::kkt0_t = typename Impl::kkt0_t

Definition at line 22 of file proximal-riccati.hpp.

KnotType

template<typename _Scalar >

using aligator::gar::ProximalRiccatiSolver< _Scalar >::KnotType = LQRKnotTpl<Scalar>

Definition at line 23 of file proximal-riccati.hpp.

Constructor & Destructor Documentation

ProximalRiccatiSolver()

template<typename _Scalar >

aligator::gar::ProximalRiccatiSolver< _Scalar >::ProximalRiccatiSolver ( const LQRProblemTpl< Scalar > & problem )

explicit

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES()

template<typename _Scalar >

aligator::gar::ProximalRiccatiSolver< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES

(

Scalar

)

backward()

template<typename _Scalar >

bool aligator::gar::ProximalRiccatiSolver< _Scalar >::backward ( const Scalar mudyn, const Scalar mueq )

virtual

Backward sweep.

Implements aligator::gar::RiccatiSolverBase< _Scalar >.

forward()

template<typename _Scalar >

bool aligator::gar::ProximalRiccatiSolver< _Scalar >::forward ( std::vector< VectorXs > & xs, std::vector< VectorXs > & us, std::vector< VectorXs > & vs, std::vector< VectorXs > & lbdas, const std::optional< ConstVectorRef > & theta = std::nullopt ) const

virtual

Implements aligator::gar::RiccatiSolverBase< _Scalar >.

cycleAppend()

template<typename _Scalar >

void aligator::gar::ProximalRiccatiSolver< _Scalar >::cycleAppend

(

const KnotType &

knot

)

getFeedforward()

template<typename _Scalar >

VectorRef aligator::gar::ProximalRiccatiSolver< _Scalar >::getFeedforward ( size_t i )

inlinevirtual

Implements aligator::gar::RiccatiSolverBase< _Scalar >.

Definition at line 35 of file proximal-riccati.hpp.

getFeedback()

template<typename _Scalar >

RowMatrixRef aligator::gar::ProximalRiccatiSolver< _Scalar >::getFeedback ( size_t i )

inlinevirtual

Implements aligator::gar::RiccatiSolverBase< _Scalar >.

Definition at line 36 of file proximal-riccati.hpp.

Member Data Documentation

datas

template<typename _Scalar >

StageFactorVec aligator::gar::ProximalRiccatiSolver< _Scalar >::datas

Definition at line 17 of file proximal-riccati.hpp.

kkt0

template<typename _Scalar >

kkt0_t aligator::gar::ProximalRiccatiSolver< _Scalar >::kkt0

Definition at line 38 of file proximal-riccati.hpp.

thGrad

template<typename _Scalar >

VectorXs aligator::gar::ProximalRiccatiSolver< _Scalar >::thGrad

Definition at line 39 of file proximal-riccati.hpp.

thHess

template<typename _Scalar >

MatrixXs aligator::gar::ProximalRiccatiSolver< _Scalar >::thHess

Definition at line 40 of file proximal-riccati.hpp.

problem_

template<typename _Scalar >

const LQRProblemTpl<Scalar>* aligator::gar::ProximalRiccatiSolver< _Scalar >::problem_

protected

Definition at line 43 of file proximal-riccati.hpp.

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

• gar/include/aligator/gar/proximal-riccati.hpp