15 using value_t = prox_riccati_t::value_t;
16 bp::class_<value_t>(
"value_data", bp::no_init)
17 .def_readonly(
"Pmat", &value_t::Pmat)
18 .def_readonly(
"pvec", &value_t::pvec)
19 .def_readonly(
"Vxx", &value_t::Vxx)
20 .def_readonly(
"vx", &value_t::vx)
21 .def_readonly(
"Vxt", &value_t::Vxt)
22 .def_readonly(
"Vtt", &value_t::Vtt)
23 .def_readonly(
"vt", &value_t::vt);
25 bp::class_<stage_factor_t>(
26 "StageFactor",
"Stagewise factor for the generalized Riccati algorithm.",
35 using StageFactorVec = std::vector<stage_factor_t>;
36 StdVectorPythonVisitor<StageFactorVec, true>::expose(
"StdVec_StageFactor");
40 bp::class_<prox_riccati_t, bp::bases<riccati_base_t>,
41 boost::noncopyable>(
"ProximalRiccatiSolver",
42 "Proximal Riccati solver.", bp::no_init)
43 .def(bp::init<const lqr_t &>((
"self"_a,
"problem")))
44 .def_readonly(
"thGrad", &prox_riccati_t::thGrad,
"Value gradient")
45 .def_readonly(
"thHess", &prox_riccati_t::thHess,
"Value Hessian")
46 .def_readonly(
"datas", &prox_riccati_t::datas)
47 .def_readonly(
"kkt0", &prox_riccati_t::kkt0,
48 "Initial stage KKT system");
49 bp::class_<prox_riccati_t::kkt0_t>(
"kkt0_t", bp::no_init)
50 .def_readonly(
"ff", &prox_riccati_t::kkt0_t::ff)
51 .def_readonly(
"fth", &prox_riccati_t::kkt0_t::fth)
52 .def_readonly(
"mat", &prox_riccati_t::kkt0_t::mat)
53 .def_readonly(
"chol", &prox_riccati_t::kkt0_t::chol);