utils.hpp File Reference

#include "lqr-problem.hpp"
#include "aligator/third-party/boost/core/span.hpp"
#include <Eigen/SparseCore>

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Namespaces
namespace	aligator
	Main package namespace.
namespace	aligator::gar
namespace	aligator::gar::helpers

Functions
template<typename InType, typename OutScalar>
void	aligator::gar::helpers::sparseAssignDenseBlock (Eigen::Index i0, Eigen::Index j0, const Eigen::DenseBase< InType > &input, Eigen::SparseMatrix< OutScalar > &out, bool update)
	Helper to assign a dense matrix into a range of coefficients of a sparse matrix.
template<typename Scalar>
void	aligator::gar::helpers::sparseAssignDiagonal (Eigen::Index i0, Eigen::Index i1, Scalar value, Eigen::SparseMatrix< Scalar > &out, bool update)
template<typename Scalar>
void	aligator::gar::lqrCreateSparseMatrix (const LQRProblemTpl< Scalar > &problem, const Scalar mudyn, const Scalar mueq, Eigen::SparseMatrix< Scalar > &mat, Eigen::Matrix< Scalar, -1, 1 > &rhs, bool update)
template<typename Scalar>
std::array< Scalar, 3 >	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)