aligator  0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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context.hpp
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1
2#pragma once
3
4#include "aligator/fwd.hpp"
5
6namespace aligator {
49} // namespace aligator
Forward declarations.
#define ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
Definition math.hpp:8
DynamicsModelTpl< Scalar > DynamicsModel
Definition context.hpp:27
StageModelTpl< Scalar > StageModel
Definition context.hpp:29
CostAbstractTpl< Scalar > CostAbstract
Definition context.hpp:25
ManifoldAbstractTpl< Scalar > Manifold
Definition context.hpp:14
CallbackBaseTpl< Scalar > CallbackBase
Definition context.hpp:32
WorkspaceTpl< Scalar > Workspace
Definition context.hpp:44
ExplicitDynamicsModelTpl< Scalar > ExplicitDynamics
Definition context.hpp:38
ALIGATOR_DEPRECATED_MESSAGE("Aligator now requires C++17 and the Eigen::aligned_allocator<T> class is " "no longer useful. This function is now just an alias for " "std::make_shared, and will be removed in the future.") inline auto allocate_shared_eigen_aligned(Args &&...args)
Definition fwd.hpp:133
static constexpr int Options
Definition context.hpp:10
StageConstraintTpl< Scalar > ALIGATOR_DEPRECATED
Definition context.hpp:19
ResultsTpl< Scalar > Results
Definition context.hpp:45
DynamicsDataTpl< Scalar > DynamicsData
Definition context.hpp:28
StageFunctionTpl< Scalar > StageFunction
Definition context.hpp:16
StageDataTpl< Scalar > StageData
Definition context.hpp:30
ConstraintSetTpl< Scalar > ConstraintSet
Definition context.hpp:21
ExplicitDynamicsDataTpl< Scalar > ExplicitDynamicsData
Definition context.hpp:39
UnaryFunctionTpl< Scalar > UnaryFunction
Definition context.hpp:17
StageFunctionDataTpl< Scalar > StageFunctionData
Definition context.hpp:18
ConstraintStackTpl< Scalar > ConstraintStack
Definition context.hpp:36
CostDataAbstractTpl< Scalar > CostData
Definition context.hpp:26
SolverProxDDPTpl< Scalar > SolverProxDDP
Definition context.hpp:41
TrajOptProblemTpl< Scalar > TrajOptProblem
Definition context.hpp:34
TrajOptDataTpl< Scalar > TrajOptData
Definition context.hpp:35
FilterTpl< Scalar > Filter
Definition context.hpp:46
SolverFDDPTpl< Scalar > SolverFDDP
Definition context.hpp:42
Main package namespace.
Base callback class.
Convenience class to manage a stack of constraints.
Stage costs for control problems.
Data struct for CostAbstractTpl.
Dynamics model: describes system dynamics through an implicit relation .
Definition dynamics.hpp:14
Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.
Explicit forward dynamics model .
A basic filter line-search strategy.
Definition filter.hpp:12
Results holder struct.
Definition results.hpp:11
The feasible DDP (FDDP) algorithm, from Mastalli et al. (2020).
A proximal, augmented Lagrangian-type solver for trajectory optimization.
Simple struct holding together a function and set, to describe a constraint.
Data struct for stage models StageModelTpl.
Base struct for function data.
Class representing ternary functions .
A stage in the control problem.
Problem data struct.
Trajectory optimization problem.
Represents unary functions of the form , with no control (or next-state) arguments.
Workspace for solver SolverProxDDP.
Definition workspace.hpp:28