aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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expose-dense.cpp
Go to the documentation of this file.
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#include "
aligator/python/fwd.hpp
"
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#include "
aligator/gar/dense-riccati.hpp
"
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namespace
aligator::python
{
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using namespace
gar;
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using
context::Scalar
;
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using
riccati_base_t
= RiccatiSolverBase<Scalar>;
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using
lqr_t
= LQRProblemTpl<context::Scalar>;
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void
exposeDenseSolver
() {
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bp::class_<RiccatiSolverDense<Scalar>, bp::bases<riccati_base_t>,
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boost::noncopyable>(
"RiccatiSolverDense"
,
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"Stagewise-dense Riccati solver (using "
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"stagewise Bunch-Kaufman factorizations)."
,
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bp::no_init)
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.def(bp::init<const lqr_t &>((
"self"
_a,
"problem"
)));
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}
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}
// namespace aligator::python
fwd.hpp
aligator::gar::RiccatiSolverBase< Scalar >
dense-riccati.hpp
aligator::context::Scalar
double Scalar
Definition
context.hpp:9
aligator::python
The Python bindings.
Definition
blk-matrix.hpp:5
aligator::python::exposeDenseSolver
void exposeDenseSolver()
Definition
expose-dense.cpp:12
aligator::gar::LQRProblemTpl
Definition
lqr-problem.hpp:87
bindings
python
src
gar
expose-dense.cpp
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