utils.hpp File Reference

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

Include dependency graph for utils.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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)