aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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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 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 mueq, const std::optional< typename math_types< Scalar >::ConstVectorRef > &theta=std::nullopt, bool verbose=false) |
template<typename Scalar> | |
uint | aligator::gar::lqrNumRows (const LqrProblemTpl< Scalar > &problem) |
Compute the number of rows in the problem matrix. | |
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) |