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

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

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

Public Types
using	Scalar = _Scalar
using	LQRKnot = LQRKnotTpl<double>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES (Scalar)
virtual bool	backward (const Scalar mudyn, const Scalar mueq)=0
virtual 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 =0
virtual void	cycleAppend (const LQRKnot &knot)=0
virtual void	collapseFeedback ()
virtual VectorRef	getFeedforward (size_t)=0
virtual RowMatrixRef	getFeedback (size_t)=0
virtual	~RiccatiSolverBase ()=default

Detailed Description

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

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

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

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

LQRKnot

template<typename _Scalar >

using aligator::gar::RiccatiSolverBase< _Scalar >::LQRKnot = LQRKnotTpl<double>

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

Constructor & Destructor Documentation

~RiccatiSolverBase()

template<typename _Scalar >

virtual aligator::gar::RiccatiSolverBase< _Scalar >::~RiccatiSolverBase ( )

virtualdefault

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES()

template<typename _Scalar >

aligator::gar::RiccatiSolverBase< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES

(

Scalar

)

backward()

template<typename _Scalar >

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

pure virtual

Implemented in aligator::gar::ProximalRiccatiSolver< _Scalar >, and aligator::gar::RiccatiSolverDense< _Scalar >.

forward()

template<typename _Scalar >

virtual bool aligator::gar::RiccatiSolverBase< _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

pure virtual

Implemented in aligator::gar::ProximalRiccatiSolver< _Scalar >, and aligator::gar::RiccatiSolverDense< _Scalar >.

cycleAppend()

template<typename _Scalar >

virtual void aligator::gar::RiccatiSolverBase< _Scalar >::cycleAppend ( const LQRKnot & knot )

pure virtual

collapseFeedback()

template<typename _Scalar >

virtual void aligator::gar::RiccatiSolverBase< _Scalar >::collapseFeedback ( )

inlinevirtual

For applicable solvers, updates the first feedback gain in-place to correspond to the first Riccati gain.

Definition at line 29 of file riccati-base.hpp.

getFeedforward()

template<typename _Scalar >

virtual VectorRef aligator::gar::RiccatiSolverBase< _Scalar >::getFeedforward ( size_t )

pure virtual

Implemented in aligator::gar::ProximalRiccatiSolver< _Scalar >, and aligator::gar::RiccatiSolverDense< _Scalar >.

getFeedback()

template<typename _Scalar >

virtual RowMatrixRef aligator::gar::RiccatiSolverBase< _Scalar >::getFeedback ( size_t )

pure virtual

Implemented in aligator::gar::ProximalRiccatiSolver< _Scalar >, and aligator::gar::RiccatiSolverDense< _Scalar >.

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

• include/aligator/solvers/proxddp/solver-proxddp.hpp
• gar/include/aligator/gar/riccati-base.hpp