aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Go to the source code of this file.
Namespaces | |
namespace | aligator |
Main package namespace. | |
namespace | aligator::gar |
Functions | |
template<typename Scalar > | |
auto | aligator::gar::lqrComputeKktError (const LQRProblemTpl< Scalar > &problem, boost::span< const typename math_types< Scalar >::VectorXs > xs, boost::span< const typename math_types< Scalar >::VectorXs > us, boost::span< const typename math_types< Scalar >::VectorXs > vs, boost::span< const typename math_types< Scalar >::VectorXs > lbdas, const Scalar mudyn, const Scalar mueq, const std::optional< typename math_types< Scalar >::ConstVectorRef > &theta_, bool verbose=false) |
template<typename Scalar > | |
bool | aligator::gar::lqrDenseMatrix (const LQRProblemTpl< Scalar > &problem, Scalar mudyn, Scalar mueq, typename math_types< Scalar >::MatrixXs &mat, typename math_types< Scalar >::VectorXs &rhs) |
Fill in a KKT constraint matrix and vector for the given LQ problem with the given dual-regularization parameters mudyn and mueq . | |
template<typename Scalar > | |
uint | aligator::gar::lqrNumRows (const LQRProblemTpl< Scalar > &problem) |
Compute the number of rows in the problem matrix. | |
template<typename Scalar > | |
auto | aligator::gar::lqrDenseMatrix (const LQRProblemTpl< Scalar > &problem, Scalar mudyn, Scalar mueq) |
Fill in a KKT constraint matrix and vector for the given LQ problem with the given dual-regularization parameters mudyn and mueq . | |
template<typename Scalar > | |
void | aligator::gar::lqrDenseSolutionToTraj (const LQRProblemTpl< Scalar > &problem, const typename math_types< Scalar >::ConstVectorRef solution, std::vector< typename math_types< Scalar >::VectorXs > &xs, std::vector< typename math_types< Scalar >::VectorXs > &us, std::vector< typename math_types< Scalar >::VectorXs > &vs, std::vector< typename math_types< Scalar >::VectorXs > &lbdas) |
Convert dense RHS solution to its trajectory [x,u,v,lambda] solution. | |
template<typename Scalar > | |
auto | aligator::gar::lqrInitializeSolution (const LQRProblemTpl< Scalar > &problem) |