aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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expose-parallel.cpp
Go to the documentation of this file.
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#include "
aligator/python/fwd.hpp
"
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#include "
aligator/python/blk-matrix.hpp
"
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#include "
aligator/gar/lqr-problem.hpp
"
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#include "
aligator/gar/parallel-solver.hpp
"
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namespace
aligator
{
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namespace
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
knot_t
=
LqrKnotTpl<context::Scalar>
;
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using
lqr_t
=
LqrProblemTpl<context::Scalar>
;
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void
exposeParallelSolver
() {
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#ifdef ALIGATOR_MULTITHREADING
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using
parallel_solver_t =
gar::ParallelRiccatiSolver<Scalar>
;
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bp::class_<parallel_solver_t, bp::bases<riccati_base_t>, boost::noncopyable>(
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"ParallelRiccatiSolver"
, bp::no_init)
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.def(bp::init<lqr_t &, uint>((
"self"
_a,
"problem"
,
"num_threads"
)))
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.def_readonly(
"datas"
, ¶llel_solver_t::datas);
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#endif
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}
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}
// namespace python
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}
// namespace aligator
blk-matrix.hpp
fwd.hpp
aligator::gar::ParallelRiccatiSolver
A parallel-condensing LQ solver.
Definition
parallel-solver.hpp:26
aligator::gar::RiccatiSolverBase
Definition
riccati-base.hpp:13
lqr-problem.hpp
aligator::context::Scalar
double Scalar
Definition
context.hpp:9
aligator::python
The Python bindings.
Definition
blk-matrix.hpp:5
aligator::python::knot_t
LqrKnotTpl< context::Scalar > knot_t
Definition
expose-gar.cpp:17
aligator::python::riccati_base_t
RiccatiSolverBase< Scalar > riccati_base_t
Definition
expose-dense.cpp:10
aligator::python::lqr_t
LqrProblemTpl< context::Scalar > lqr_t
Definition
expose-dense.cpp:11
aligator::python::exposeParallelSolver
void exposeParallelSolver()
Definition
expose-parallel.cpp:16
aligator
Main package namespace.
Definition
action-model-wrap.hpp:14
parallel-solver.hpp
aligator::gar::LqrKnotTpl
Struct describing a stage of a constrained LQ problem.
Definition
lqr-problem.hpp:34
aligator::gar::LqrProblemTpl
Definition
lqr-problem.hpp:105
bindings
python
src
gar
expose-parallel.cpp
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