aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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Public Types | Public Member Functions | Public Attributes | Protected Attributes | List of all members
aligator::gar::ProximalRiccatiSolver< _Scalar > Class Template Reference

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

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

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

Detailed Description

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

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

Definition at line 12 of file proximal-riccati.hpp.

Member Typedef Documentation

◆ Scalar

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

Definition at line 14 of file proximal-riccati.hpp.

◆ Base

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

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

◆ allocator_type

template<typename _Scalar>
using aligator::gar::ProximalRiccatiSolver< _Scalar >::allocator_type = ::aligator::polymorphic_allocator

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

◆ Kernel

template<typename _Scalar>
using aligator::gar::ProximalRiccatiSolver< _Scalar >::Kernel = ProximalRiccatiKernel<Scalar>

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

◆ StageFactorType

template<typename _Scalar>
using aligator::gar::ProximalRiccatiSolver< _Scalar >::StageFactorType = typename Kernel::StageFactorType

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

◆ CostToGo

template<typename _Scalar>
using aligator::gar::ProximalRiccatiSolver< _Scalar >::CostToGo = typename StageFactorType::CostToGo

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

◆ kkt0_t

template<typename _Scalar>
using aligator::gar::ProximalRiccatiSolver< _Scalar >::kkt0_t = typename Kernel::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 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)
virtual

Cycle the solver data, given the specs from a given new knot.

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

◆ 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.

◆ get_allocator()

template<typename _Scalar>
allocator_type aligator::gar::ProximalRiccatiSolver< _Scalar >::get_allocator ( ) const
inline

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

Member Data Documentation

◆ datas

template<typename _Scalar>
std::pmr::vector<StageFactor<Scalar> > aligator::gar::ProximalRiccatiSolver< _Scalar >::datas

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

◆ kkt0

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

Definition at line 41 of file proximal-riccati.hpp.

◆ thGrad

template<typename _Scalar>
ArenaMatrix<VectorXs> aligator::gar::ProximalRiccatiSolver< _Scalar >::thGrad

Definition at line 42 of file proximal-riccati.hpp.

◆ thHess

template<typename _Scalar>
ArenaMatrix<MatrixXs> aligator::gar::ProximalRiccatiSolver< _Scalar >::thHess

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

◆ problem_

template<typename _Scalar>
const LqrProblemTpl<Scalar>* aligator::gar::ProximalRiccatiSolver< _Scalar >::problem_
protected

Definition at line 46 of file proximal-riccati.hpp.

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