| aligator
    0.16.0
    A versatile and efficient C++ library for real-time constrained trajectory optimization. | 
A Riccati-like solver for the proximal LQ subproblem in ProxDDP. More...
#include <aligator/gar/proximal-riccati.hpp>
| Public Types | |
| using | Scalar = _Scalar | 
| using | Base = RiccatiSolverBase<Scalar> | 
| using | allocator_type = ::aligator::polymorphic_allocator | 
| using | Kernel = ProximalRiccatiKernel<Scalar> | 
| using | StageFactorType = typename Kernel::StageFactorType | 
| using | CostToGo = typename StageFactorType::CostToGo | 
| using | kkt0_t = typename Kernel::kkt0_t | 
| using | KnotType = LqrKnotTpl<Scalar> | 
|  Public Types inherited from aligator::gar::RiccatiSolverBase< _Scalar > | |
| using | Scalar = _Scalar | 
| using | LqrKnot = LqrKnotTpl<Scalar> | 
| Public Member Functions | |
| ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES (Scalar) | |
| ProximalRiccatiSolver (const LqrProblemTpl< Scalar > &problem) | |
| bool | backward (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) | 
| Cycle the solver data, given the specs from a given new knot. | |
| VectorRef | getFeedforward (size_t i) | 
| RowMatrixRef | getFeedback (size_t i) | 
| allocator_type | get_allocator () const | 
|  Public Member Functions inherited from aligator::gar::RiccatiSolverBase< _Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES (Scalar) | |
| virtual void | collapseFeedback () | 
| virtual | ~RiccatiSolverBase ()=default | 
| Public Attributes | |
| std::pmr::vector< StageFactor< Scalar > > | datas | 
| kkt0_t | kkt0 | 
| ArenaMatrix< VectorXs > | thGrad | 
| ArenaMatrix< MatrixXs > | thHess | 
| Protected Attributes | |
| const LqrProblemTpl< Scalar > * | problem_ | 
A Riccati-like solver for the proximal LQ subproblem in ProxDDP.
Definition at line 12 of file proximal-riccati.hpp.
| using aligator::gar::ProximalRiccatiSolver< _Scalar >::Scalar = _Scalar | 
Definition at line 14 of file proximal-riccati.hpp.
| using aligator::gar::ProximalRiccatiSolver< _Scalar >::Base = RiccatiSolverBase<Scalar> | 
Definition at line 16 of file proximal-riccati.hpp.
| using aligator::gar::ProximalRiccatiSolver< _Scalar >::allocator_type = ::aligator::polymorphic_allocator | 
Definition at line 17 of file proximal-riccati.hpp.
| using aligator::gar::ProximalRiccatiSolver< _Scalar >::Kernel = ProximalRiccatiKernel<Scalar> | 
Definition at line 19 of file proximal-riccati.hpp.
| using aligator::gar::ProximalRiccatiSolver< _Scalar >::StageFactorType = typename Kernel::StageFactorType | 
Definition at line 20 of file proximal-riccati.hpp.
| using aligator::gar::ProximalRiccatiSolver< _Scalar >::CostToGo = typename StageFactorType::CostToGo | 
Definition at line 21 of file proximal-riccati.hpp.
| using aligator::gar::ProximalRiccatiSolver< _Scalar >::kkt0_t = typename Kernel::kkt0_t | 
Definition at line 22 of file proximal-riccati.hpp.
| using aligator::gar::ProximalRiccatiSolver< _Scalar >::KnotType = LqrKnotTpl<Scalar> | 
Definition at line 23 of file proximal-riccati.hpp.
| 
 | explicit | 
| aligator::gar::ProximalRiccatiSolver< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES | ( | Scalar | ) | 
| 
 | virtual | 
Backward sweep.
Implements aligator::gar::RiccatiSolverBase< _Scalar >.
| 
 | virtual | 
Implements aligator::gar::RiccatiSolverBase< _Scalar >.
| 
 | virtual | 
Cycle the solver data, given the specs from a given new knot.
Implements aligator::gar::RiccatiSolverBase< _Scalar >.
| 
 | inlinevirtual | 
Implements aligator::gar::RiccatiSolverBase< _Scalar >.
Definition at line 35 of file proximal-riccati.hpp.
| 
 | inlinevirtual | 
Implements aligator::gar::RiccatiSolverBase< _Scalar >.
Definition at line 36 of file proximal-riccati.hpp.
| 
 | inline | 
Definition at line 38 of file proximal-riccati.hpp.
| std::pmr::vector<StageFactor<Scalar> > aligator::gar::ProximalRiccatiSolver< _Scalar >::datas | 
Definition at line 40 of file proximal-riccati.hpp.
| kkt0_t aligator::gar::ProximalRiccatiSolver< _Scalar >::kkt0 | 
Definition at line 41 of file proximal-riccati.hpp.
| ArenaMatrix<VectorXs> aligator::gar::ProximalRiccatiSolver< _Scalar >::thGrad | 
Definition at line 42 of file proximal-riccati.hpp.
| ArenaMatrix<MatrixXs> aligator::gar::ProximalRiccatiSolver< _Scalar >::thHess | 
Definition at line 43 of file proximal-riccati.hpp.
| 
 | protected | 
Definition at line 46 of file proximal-riccati.hpp.