A stagewise-dense Riccati solver. This algorithm uses a dense Bunch-Kaufman factorization at every stage. More...

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

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

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

Public Types
using	Scalar = _Scalar

using	Base = RiccatiSolverBase<Scalar>

using	BlkMat44 = BlkMatrix<MatrixXs, 4, 4>

using	BlkRowMat41 = BlkMatrix<RowMatrixXs, 4, 1>

using	BlkVec4 = BlkMatrix<VectorXs, 4, 1>

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)

	RiccatiSolverDense (const LQRProblemTpl< Scalar > &problem)

bool	backward (const Scalar mudyn, const Scalar mueq)

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
std::vector< BlkMat44 >	kkts

std::vector< BlkVec4 >	ffs

std::vector< BlkRowMat41 >	fbs

std::vector< BlkRowMat41 >	fts

std::vector< Eigen::BunchKaufman< MatrixXs > >	ldls

std::vector< MatrixXs >	Pxx

std::vector< MatrixXs >	Pxt

std::vector< MatrixXs >	Ptt

std::vector< VectorXs >	px

std::vector< VectorXs >	pt

struct {

BlkMatrix< MatrixXs, 2, 2 > mat

BlkMatrix< VectorXs, 2, 1 > ff

BlkMatrix< MatrixXs, 2, 1 > fth

Eigen::BunchKaufman< MatrixXs > ldl

}	kkt0

VectorXs	thGrad

MatrixXs	thHess

Protected Member Functions
void	init_factor (const LQRKnotTpl< Scalar > &knot)

void	initialize ()

Protected Attributes
const LQRProblemTpl< Scalar > *	problem_

Detailed Description

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

A stagewise-dense Riccati solver. This algorithm uses a dense Bunch-Kaufman factorization at every stage.

Remarks: This is the approach from the T-RO journal submission and 2022 IROS paper.

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

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

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

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

◆ Base

template<typename _Scalar >

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

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

◆ BlkMat44

template<typename _Scalar >

using aligator::gar::RiccatiSolverDense< _Scalar >::BlkMat44 = BlkMatrix<MatrixXs, 4, 4>

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

◆ BlkRowMat41

template<typename _Scalar >

using aligator::gar::RiccatiSolverDense< _Scalar >::BlkRowMat41 = BlkMatrix<RowMatrixXs, 4, 1>

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

◆ BlkVec4

template<typename _Scalar >

using aligator::gar::RiccatiSolverDense< _Scalar >::BlkVec4 = BlkMatrix<VectorXs, 4, 1>

Definition at line 24 of file dense-riccati.hpp.

◆ KnotType

template<typename _Scalar >

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

Definition at line 25 of file dense-riccati.hpp.

Constructor & Destructor Documentation

◆ RiccatiSolverDense()

template<typename _Scalar >

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

explicit

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES()

template<typename _Scalar >

aligator::gar::RiccatiSolverDense< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES ( Scalar )

◆ backward()

template<typename _Scalar >

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

virtual

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

◆ forward()

template<typename _Scalar >

bool aligator::gar::RiccatiSolverDense< _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::RiccatiSolverDense< _Scalar >::cycleAppend ( const KnotType & knot )

◆ getFeedforward()

template<typename _Scalar >

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

inlinevirtual

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

Definition at line 55 of file dense-riccati.hpp.

◆ getFeedback()

template<typename _Scalar >

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

inlinevirtual

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

Definition at line 56 of file dense-riccati.hpp.

◆ init_factor()

template<typename _Scalar >

void aligator::gar::RiccatiSolverDense< _Scalar >::init_factor ( const LQRKnotTpl< Scalar > & knot )

protected

◆ initialize()

template<typename _Scalar >

void aligator::gar::RiccatiSolverDense< _Scalar >::initialize ( )

protected

Member Data Documentation

◆ kkts

template<typename _Scalar >

std::vector<BlkMat44> aligator::gar::RiccatiSolverDense< _Scalar >::kkts

Definition at line 27 of file dense-riccati.hpp.

◆ ffs

template<typename _Scalar >

std::vector<BlkVec4> aligator::gar::RiccatiSolverDense< _Scalar >::ffs

Definition at line 28 of file dense-riccati.hpp.

◆ fbs

template<typename _Scalar >

std::vector<BlkRowMat41> aligator::gar::RiccatiSolverDense< _Scalar >::fbs

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

◆ fts

template<typename _Scalar >

std::vector<BlkRowMat41> aligator::gar::RiccatiSolverDense< _Scalar >::fts

Definition at line 30 of file dense-riccati.hpp.

◆ ldls

template<typename _Scalar >

std::vector<Eigen::BunchKaufman<MatrixXs> > aligator::gar::RiccatiSolverDense< _Scalar >::ldls

Definition at line 31 of file dense-riccati.hpp.

◆ Pxx

template<typename _Scalar >

std::vector<MatrixXs> aligator::gar::RiccatiSolverDense< _Scalar >::Pxx

Definition at line 32 of file dense-riccati.hpp.

◆ Pxt

template<typename _Scalar >

std::vector<MatrixXs> aligator::gar::RiccatiSolverDense< _Scalar >::Pxt

Definition at line 33 of file dense-riccati.hpp.

◆ Ptt

template<typename _Scalar >

std::vector<MatrixXs> aligator::gar::RiccatiSolverDense< _Scalar >::Ptt

Definition at line 34 of file dense-riccati.hpp.

◆ px

template<typename _Scalar >

std::vector<VectorXs> aligator::gar::RiccatiSolverDense< _Scalar >::px

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

◆ pt

template<typename _Scalar >

std::vector<VectorXs> aligator::gar::RiccatiSolverDense< _Scalar >::pt

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

◆ mat

template<typename _Scalar >

BlkMatrix<MatrixXs, 2, 2> aligator::gar::RiccatiSolverDense< _Scalar >::mat

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

◆ ff

template<typename _Scalar >

BlkMatrix<VectorXs, 2, 1> aligator::gar::RiccatiSolverDense< _Scalar >::ff

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

◆ fth

template<typename _Scalar >

BlkMatrix<MatrixXs, 2, 1> aligator::gar::RiccatiSolverDense< _Scalar >::fth

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

◆ ldl

template<typename _Scalar >

Eigen::BunchKaufman<MatrixXs> aligator::gar::RiccatiSolverDense< _Scalar >::ldl

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

◆ [struct]

struct { ... } aligator::gar::RiccatiSolverDense< _Scalar >::kkt0

◆ thGrad

template<typename _Scalar >

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

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

◆ thHess

template<typename _Scalar >

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

Definition at line 44 of file dense-riccati.hpp.

◆ problem_

template<typename _Scalar >

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

protected

Definition at line 61 of file dense-riccati.hpp.

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

gar/include/aligator/gar/dense-riccati.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BlkMat44

◆ BlkRowMat41

◆ BlkVec4

◆ KnotType

Constructor & Destructor Documentation

◆ RiccatiSolverDense()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES()

◆ backward()

◆ forward()

◆ cycleAppend()

◆ getFeedforward()

◆ getFeedback()

◆ init_factor()

◆ initialize()

Member Data Documentation

◆ kkts

◆ ffs

◆ fbs

◆ fts

◆ ldls

◆ Pxx

◆ Pxt

◆ Ptt

◆ px

◆ pt

◆ mat

◆ ff

◆ fth

◆ ldl

◆ [struct]

◆ thGrad

◆ thHess

◆ problem_