aligator
0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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aligator
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Citing Aligator
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Acknowledgments
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Benchmarks
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Developer's guide
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Trajectory optimization problems
The FDDP algorithm
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Here is a list of all class members with links to the classes they belong to:
- n -
N :
aligator::BlkMatrix< _MatrixType, _N, _M >
,
aligator::python::BlkMatrixPythonVisitor< BlockMatrixType >
name :
aligator::LogColumn
nc :
aligator::gar::LQRKnotTpl< Scalar >
,
aligator::StageModelTpl< _Scalar >
nc0() :
aligator::gar::LQRProblemTpl< Scalar >
ndx() :
aligator::compat::croc::StateWrapperTpl< _Scalar >
,
aligator::context::CostAbstractTpl< _Scalar >
,
aligator::CostAbstractTpl< _Scalar >
,
aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
ndx1 :
aligator::DynamicsDataTpl< _Scalar >
,
aligator::DynamicsModelTpl< _Scalar >
,
aligator::StageFunctionDataTpl< _Scalar >
,
aligator::StageFunctionTpl< _Scalar >
,
aligator::StageModelTpl< _Scalar >
ndx2 :
aligator::DynamicsDataTpl< _Scalar >
,
aligator::DynamicsModelTpl< _Scalar >
,
aligator::StageModelTpl< _Scalar >
ndx_ :
aligator::CostDataAbstractTpl< _Scalar >
,
aligator::QFunctionTpl< _Scalar >
,
aligator::ValueFunctionTpl< _Scalar >
ndy_ :
aligator::QFunctionTpl< _Scalar >
neutral() :
aligator::compat::croc::StateWrapperTpl< _Scalar >
nk_ :
aligator::AngularAccelerationResidualTpl< _Scalar >
,
aligator::CentroidalAccelerationResidualTpl< _Scalar >
,
aligator::dynamics::CentroidalFwdDynamicsTpl< _Scalar >
,
aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >
NonmonotoneLinesearch() :
aligator::NonmonotoneLinesearch< Scalar >
NoOpDynamics() :
aligator::compat::croc::NoOpDynamics< Scalar >
nr :
aligator::StageFunctionDataTpl< _Scalar >
,
aligator::StageFunctionTpl< _Scalar >
nsteps :
aligator::WorkspaceBaseTpl< Scalar >
,
aligator::WorkspaceFDDPTpl< Scalar >
,
aligator::WorkspaceTpl< Scalar >
ntau() :
aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >
nth :
aligator::gar::LQRKnotTpl< Scalar >
ntheta() :
aligator::gar::LQRProblemTpl< Scalar >
ntot() :
aligator::QFunctionTpl< _Scalar >
nu :
aligator::context::CostAbstractTpl< _Scalar >
,
aligator::CostAbstractTpl< _Scalar >
,
aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
,
aligator::DynamicsDataTpl< _Scalar >
,
aligator::DynamicsModelTpl< _Scalar >
,
aligator::gar::LQRKnotTpl< Scalar >
,
aligator::StageFunctionDataTpl< _Scalar >
,
aligator::StageFunctionTpl< _Scalar >
,
aligator::StageModelTpl< _Scalar >
nu_ :
aligator::CostDataAbstractTpl< _Scalar >
,
aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
,
aligator::dynamics::ODEAbstractTpl< _Scalar >
,
aligator::QFunctionTpl< _Scalar >
num_iters :
aligator::ResultsBaseTpl< _Scalar >
,
aligator::ResultsTpl< _Scalar >
num_threads_ :
aligator::SolverFDDPTpl< Scalar >
numConstraints() :
aligator::StageModelTpl< _Scalar >
numDual() :
aligator::StageModelTpl< _Scalar >
numPrimal() :
aligator::StageModelTpl< _Scalar >
numSteps() :
aligator::TrajOptDataTpl< _Scalar >
,
aligator::TrajOptProblemTpl< _Scalar >
nvar :
aligator::DynamicsDataTpl< _Scalar >
,
aligator::StageFunctionDataTpl< _Scalar >
nx() :
aligator::compat::croc::StateWrapperTpl< _Scalar >
,
aligator::context::CostAbstractTpl< _Scalar >
,
aligator::CostAbstractTpl< _Scalar >
,
aligator::gar::LQRKnotTpl< Scalar >
nx1() :
aligator::DynamicsModelTpl< _Scalar >
,
aligator::StageModelTpl< _Scalar >
nx2() :
aligator::DynamicsModelTpl< _Scalar >
,
aligator::gar::LQRKnotTpl< Scalar >
,
aligator::StageModelTpl< _Scalar >
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