17 bp::class_<value_t>(
"value_data", bp::no_init)
18 .def_readonly(
"Vxx", &value_t::Vxx)
19 .def_readonly(
"vx", &value_t::vx)
20 .def_readonly(
"Vxt", &value_t::Vxt)
21 .def_readonly(
"Vtt", &value_t::Vtt)
22 .def_readonly(
"vt", &value_t::vt);
24 bp::class_<stage_factor_t>(
25 "StageFactor",
"Stagewise factor for the generalized Riccati algorithm.",
34 using StageFactorVec = std::vector<stage_factor_t>;
35 StdVectorPythonVisitor<StageFactorVec, true>::expose(
"StdVec_StageFactor");
39 bp::class_<prox_riccati_t, bp::bases<riccati_base_t>,
40 boost::noncopyable>(
"ProximalRiccatiSolver",
41 "Proximal Riccati solver.", bp::no_init)
42 .def(bp::init<const lqr_t &>((
"self"_a,
"problem")))
47 "Initial stage KKT system");
48 bp::class_<prox_riccati_t::kkt0_t>(
"kkt0_t", bp::no_init)
49 .def_readonly(
"ff", &prox_riccati_t::kkt0_t::ff)
50 .def_readonly(
"fth", &prox_riccati_t::kkt0_t::fth)
51 .def_readonly(
"mat", &prox_riccati_t::kkt0_t::mat)
52 .def_readonly(
"chol", &prox_riccati_t::kkt0_t::chol);