Main package namespace. More...

Namespaces
namespace	autodiff

namespace	compat
	Headers for compatibility modules.

namespace	context

namespace	detail

namespace	dynamics
	Namespace for modelling system dynamics.

namespace	gar

namespace	math
	Math utilities.

namespace	omp
	Utilities to set parallelism options.

namespace	python
	The Python bindings.

namespace	utils

Classes
struct	AngularAccelerationDataTpl

struct	AngularAccelerationResidualTpl
	This residual returns the angular acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses. More...

struct	AngularMomentumDataTpl

struct	AngularMomentumResidualTpl
	This residual returns the angular momentum for a centroidal model with state \(x = (c, h, L) \). More...

class	BlkMatrix
	Block matrix class, with a fixed-size number of row and column blocks. More...

struct	CallbackBaseTpl
	Base callback class. More...

struct	CenterOfMassTranslationDataTpl

struct	CenterOfMassTranslationResidualTpl
	This residual returns the Center of Mass translation for a centroidal model with state \(x = (c, h, L) \). More...

struct	CenterOfMassVelocityDataTpl

struct	CenterOfMassVelocityResidualTpl

struct	CentroidalAccelerationDataTpl

struct	CentroidalAccelerationResidualTpl
	This residual returns the linear acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses. More...

struct	CentroidalCoMDataTpl

struct	CentroidalCoMResidualTpl

struct	CentroidalMomentumDataTpl

struct	CentroidalMomentumDerivativeDataTpl

struct	CentroidalMomentumDerivativeResidualTpl
	This residual returns the derivative of centroidal momentum for a kinodynamics model. More...

struct	CentroidalMomentumResidualTpl
	This residual returns the derivative of centroidal momentum for a kinodynamics model. More...

struct	CentroidalWrapperDataTpl

struct	CentroidalWrapperResidualTpl
	This residual acts as a wrapper for centroidal model cost functions in which the external forces are added to the state and the control becomes the forces derivatives. More...

struct	Cloneable
	Mixin which makes a class/class hierarchy cloneable. More...

struct	CompositeCostDataTpl
	Data struct for composite costs. More...

struct	ConstantCostTpl
	Constant cost. More...

class	ConstraintProximalScalerTpl
	Weighting strategy for the constraints in a stack. More...

struct	ConstraintStackTpl
	Convenience class to manage a stack of constraints. More...

struct	ContactMapTpl
	Contact map for centroidal costs and dynamics. More...

struct	ControlErrorResidualTpl

struct	CostAbstractTpl
	Stage costs \( \ell(x, u) \) for control problems. More...

struct	CostDataAbstractTpl
	Data struct for CostAbstractTpl. More...

struct	CostStackDataTpl

struct	CostStackTpl
	Weighted sum of multiple cost components. More...

struct	DefaultScaling
	TODO: NEW G.A.R. BACKEND CAN'T HANDLE DIFFERENT WEIGHTS, PLS FIX. More...

struct	DirectSumCostTpl

struct	DirectSumExplicitDynamicsTpl

struct	DynamicsModelTpl
	Dynamics model: describes system dynamics through an implicit relation \(f(x,u,x') = 0\). More...

struct	ExplicitDynamicsDataTpl
	Specific data struct for explicit dynamics ExplicitDynamicsModelTpl. More...

struct	ExplicitDynamicsModelTpl
	Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \). More...

struct	FilterTpl
	A basic filter line-search strategy. More...

struct	FlyHighResidualTpl
	A port of sobec's ResidualModelFlyHighTpl. More...

struct	forwardDynamics
	Evaluates the forward map for a discrete dynamics model, implicit or explicit. More...

struct	frame_api

struct	FramePlacementDataTpl

struct	FramePlacementResidualTpl

struct	FrameTranslationDataTpl

struct	FrameTranslationResidualTpl

struct	FrameVelocityDataTpl

struct	FrameVelocityResidualTpl

struct	FrictionConeDataTpl
	This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \). More...

struct	FrictionConeResidualTpl

struct	FunctionSliceDataTpl

struct	FunctionSliceXprTpl
	Represents a function of which the output is a subset of another function, for instance \(x \mapsto f_\{0, 1, 3\}(x) \) where \(f\) is given. More...

struct	FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >

struct	HistoryCallbackTpl
	Store the history of results. More...

struct	LagrangianDerivatives
	Compute the derivatives of the problem Lagrangian. More...

struct	LinearFunctionCompositionTpl

struct	LinearFunctionTpl
	Linear function \(f(x,u,y) = Ax + Bu + Cy + d\). More...

struct	LinearMomentumDataTpl

struct	LinearMomentumResidualTpl
	This residual returns the linear momentum for a centroidal model with state \(x = (c, h, L) \). More...

struct	LinearUnaryFunctionCompositionTpl

struct	LogColumn

struct	Logger
	A table logging utility to log the trace of the numerical solvers. More...

struct	LogResidualCostTpl
	Log-barrier of an underlying cost function. More...

struct	NewtonRaphson
	Newton-Raphson procedure, e.g. to compute forward dynamics from implicit functions. More...

struct	PDALFunction
	Primal-dual augmented Lagrangian merit function. More...

struct	ProximalDataTpl
	Data for proximal penalty. More...

struct	ProximalPenaltyTpl
	Proximal penalty cost. More...

struct	QFunctionTpl
	Q-function model parameters. More...

struct	QuadraticControlCostTpl

struct	QuadraticCostDataTpl

struct	QuadraticCostTpl
	Euclidean quadratic cost. More...

struct	QuadraticResidualCostTpl
	Quadratic composite of an underlying function. More...

struct	QuadraticStateCostTpl
	Quadratic distance cost over the state manifold. More...

struct	ResultsBaseTpl

struct	ResultsFDDPTpl

struct	ResultsTpl
	Results holder struct. More...

class	RuntimeError

struct	SolverFDDPTpl
	The feasible DDP (FDDP) algorithm, from Mastalli et al. (2020). More...

struct	SolverProxDDPTpl
	A proximal, augmented Lagrangian-type solver for trajectory optimization. More...

struct	StageConstraintTpl
	Simple struct holding together a function and set, to describe a constraint. More...

struct	StageDataTpl
	Data struct for stage models StageModelTpl. More...

struct	StageFunctionDataTpl
	Base struct for function data. More...

struct	StageFunctionTpl
	Class representing ternary functions \(f(x,u,x')\). More...

struct	StageModelTpl
	A stage in the control problem. More...

struct	StateErrorResidualTpl

struct	TrajectoryTpl

struct	TrajOptDataTpl
	Problem data struct. More...

struct	TrajOptProblemTpl
	Trajectory optimization problem. More...

struct	UnaryFunctionTpl
	Represents unary functions of the form \(f(x)\), with no control (or next-state) arguments. More...

struct	ValueFunctionTpl
	Storage for the value function model parameters. More...

struct	WorkspaceBaseTpl
	Base workspace struct for the algorithms. More...

struct	WorkspaceFDDPTpl
	Workspace for solver SolverFDDP. More...

struct	WorkspaceTpl
	Workspace for solver SolverProxDDP. More...

struct	WrenchConeDataTpl
	This residual implements the wrench cone for a centroidal model with control \(u = (f_1,...,f_c) \) with \(f_k\) 6D spatial force. More...

struct	WrenchConeResidualTpl

Typedefs
template<typename Scalar >
using	DynamicsDataTpl = StageFunctionDataTpl<Scalar>

template<typename T >
using	StdVectorEigenAligned = std::vector<T, Eigen::aligned_allocator<T>>

template<typename Scalar >
using	FlyHighResidualDataTpl = typename FlyHighResidualTpl<Scalar>::Data

using	uint = unsigned int

Enumerations
enum struct	RolloutType { LINEAR , NONLINEAR }

enum struct	ErrorCode { UNINITIALIZED , UNSUPPORTED_OPTION , NAN_DETECTED }

enum struct	HessianApprox { EXACT , GAUSS_NEWTON , BFGS }

enum struct	MultiplierUpdateMode { NEWTON , PRIMAL , PRIMAL_DUAL }

enum struct	LinesearchMode { PRIMAL = 0 , PRIMAL_DUAL = 1 }
	Whether to use merit functions in primal or primal-dual mode. More...

enum struct	StepAcceptanceStrategy { LINESEARCH = 0 , FILTER = 1 }
	Whether to use linesearch or filter during step acceptance phase. More...

enum class	LQSolverChoice { SERIAL , PARALLEL , STAGEDENSE }

Functions
template<typename S >
std::ostream &	operator<< (std::ostream &oss, const ExplicitDynamicsDataTpl< S > &self)

template<typename Scalar >
std::ostream &	operator<< (std::ostream &oss, const ResultsBaseTpl< Scalar > &self)

template<typename Scalar >
void	xs_default_init (const TrajOptProblemTpl< Scalar > &problem, std::vector< typename math_types< Scalar >::VectorXs > &xs)
	Default-intialize a trajectory to the neutral states for each state space at each stage.

template<typename Scalar >
void	us_default_init (const TrajOptProblemTpl< Scalar > &problem, std::vector< typename math_types< Scalar >::VectorXs > &us)
	Default-initialize a controls trajectory from the neutral element of each control space.

template<typename Scalar >
auto	problemInitializeSolution (const TrajOptProblemTpl< Scalar > &problem)

template<typename Scalar >
void	check_trajectory_and_assign (const TrajOptProblemTpl< Scalar > &problem, const typename math_types< Scalar >::VectorOfVectors &xs_init, const typename math_types< Scalar >::VectorOfVectors &us_init, typename math_types< Scalar >::VectorOfVectors &xs_out, typename math_types< Scalar >::VectorOfVectors &us_out)
	Check the input state-control trajectory is a consistent warm-start for the output.

template<typename T , typename... Args>
auto	allocate_shared_eigen_aligned (Args &&...args)

template<typename D >
auto	eigenPrintWithPreamble (const Eigen::EigenBase< D > &mat, const std::string &text)

template<typename Scalar >
auto	directSum (shared_ptr< CostAbstractTpl< Scalar > > const &c1, shared_ptr< CostAbstractTpl< Scalar > > const &c2)

template<typename T >
shared_ptr< CostStackTpl< T > >	operator+ (const CostPtr< T > &c1, const CostPtr< T > &c2)

template<typename T >
shared_ptr< CostStackTpl< T > >	operator+ (shared_ptr< CostStackTpl< T > > &&c1, const CostPtr< T > &c2)

template<typename T >
shared_ptr< CostStackTpl< T > >	operator+ (shared_ptr< CostStackTpl< T > > &&c1, CostPtr< T > &&c2)

template<typename T >
shared_ptr< CostStackTpl< T > >	operator+ (const shared_ptr< CostStackTpl< T > > &c1, CostPtr< T > &&c2)

template<typename T >
shared_ptr< CostStackTpl< T > >	operator* (T u, const CostPtr< T > &c1)

template<typename T >
shared_ptr< CostStackTpl< T > >	operator* (T u, shared_ptr< CostStackTpl< T > > &&c1)

template<typename Scalar >
auto	directSum (shared_ptr< ExplicitDynamicsModelTpl< Scalar > > const &m1, shared_ptr< ExplicitDynamicsModelTpl< Scalar > > const &m2)

template<typename Scalar >
auto	linear_compose (shared_ptr< StageFunctionTpl< Scalar > > func, const typename math_types< Scalar >::ConstMatrixRef A, const typename math_types< Scalar >::ConstVectorRef b)
	Create a linear composition of the input function `func`.

template<typename Scalar >
auto	linear_compose (shared_ptr< UnaryFunctionTpl< Scalar > > func, const typename math_types< Scalar >::ConstMatrixRef A, const typename math_types< Scalar >::ConstVectorRef b)
	Create a linear composition of the input function `func`. This will return a UnaryFunctionTpl.

template<typename Scalar , typename ConfigType , typename VelType , typename MatrixType , typename OutType , int Options>
void	underactuatedConstrainedInverseDynamics (const ModelTpl< Scalar, Options > &model, DataTpl< Scalar, Options > &data, const Eigen::MatrixBase< ConfigType > &q, Eigen::MatrixBase< VelType > const &v, const Eigen::MatrixBase< MatrixType > &actMatrix, const StdVectorEigenAligned< RigidConstraintModelTpl< Scalar, Options > > &constraint_models, StdVectorEigenAligned< RigidConstraintDataTpl< Scalar, Options > > &constraint_datas, const Eigen::MatrixBase< OutType > &res_)

template<typename Scalar , typename F , typename M >
ALIGATOR_INLINE std::pair< Scalar, Scalar >	fddp_goldstein_linesearch (F &&phi, M &&model, const Scalar phi0, const typename Linesearch< Scalar >::Options &ls_params, Scalar th_grad, Scalar &d1, Scalar th_accept_step=0.1, Scalar th_accept_neg_step=2.0)
	The backtracking linesearch from FDDP (Mastalli et al).

template<typename Scalar >
Scalar	costDirectionalDerivative (const WorkspaceTpl< Scalar > &workspace, const TrajOptDataTpl< Scalar > &prob_data)

template<typename Scalar >
std::ostream &	operator<< (std::ostream &oss, const ResultsTpl< Scalar > &self)

template<typename Scalar >
auto	getConstraintProductSet (const ConstraintStackTpl< Scalar > &constraints)

template<typename T , typename Alloc >
void	rotate_vec_left (std::vector< T, Alloc > &v, long n_head=0, long n_tail=0)
	Simply rotate an entire std::vector to the left.

template<typename Scalar >
math_types< Scalar >::VectorOfVectors	rollout (const std::vector< shared_ptr< DynamicsModelTpl< Scalar > > > &dyn_models, const typename math_types< Scalar >::VectorXs &x0, const typename math_types< Scalar >::VectorOfVectors &us, typename math_types< Scalar >::VectorOfVectors &xout)
	Perform a rollout of the supplied dynamical models.

template<typename Scalar >
math_types< Scalar >::VectorOfVectors	rollout (const DynamicsModelTpl< Scalar > &dyn_model, const typename math_types< Scalar >::VectorXs &x0, const typename math_types< Scalar >::VectorOfVectors &us)
	Perform a rollout of the supplied dynamical models.

template<typename Scalar >
void	rollout (const std::vector< shared_ptr< ExplicitDynamicsModelTpl< Scalar > > > &dyn_models, const typename math_types< Scalar >::VectorXs &x0, const typename math_types< Scalar >::VectorOfVectors &us, typename math_types< Scalar >::VectorOfVectors &xout)
	Perform a rollout of the supplied dynamical models.

template<typename Scalar >
void	rollout (const ExplicitDynamicsModelTpl< Scalar > &dyn_model, const typename math_types< Scalar >::VectorXs &x0, const typename math_types< Scalar >::VectorOfVectors &us, typename math_types< Scalar >::VectorOfVectors &xout)
	Perform a rollout of the supplied dynamical models. Rolls out a single ExplicitDynamicsModelTpl.

template<template< typename > class C, typename Scalar >
math_types< Scalar >::VectorOfVectors	rollout (const C< Scalar > &dms, const typename math_types< Scalar >::VectorXs &x0, const typename math_types< Scalar >::VectorOfVectors &us)
	Perform a rollout of the supplied dynamical models. This variant allocates the output and returns it.

template<template< typename > class C, typename Scalar >
math_types< Scalar >::VectorOfVectors	rollout (const std::vector< shared_ptr< C< Scalar > > > &dms, const typename math_types< Scalar >::VectorXs &x0, const typename math_types< Scalar >::VectorOfVectors &us)
	Perform a rollout of the supplied dynamical models. This variant allocates the output and returns it.

std::string	printVersion (const std::string &delimiter=".")
	Pretty-print the package version number.

	_process ()

Variables
constexpr std::string_view	int_format = "{: >{}d}"

constexpr std::string_view	sci_format = "{: >{}.4e}"

constexpr std::string_view	dbl_format = "{: >{}.4g}"

static const std::array< LogColumn, 11 >	BASIC_KEYS

Detailed Description

Main package namespace.

Copyright: Copyright (C) 2022-2023 LAAS-CNRS, INRIA; Copyright (C) 2022 LAAS-CNRS, INRIA; Copyright (C) 2023 LAAS-CNRS, INRIA; Copyright (C) 2022-2024 LAAS-CNRS, INRIA; Copyright (C) 2023 LAAS-CNRS, INRIA

Author: Wilson Jallet

Copyright: Copyright (C) 2024 LAAS-CNRS, INRIA

Author: Wilson Jallet

Copyright: Copyright (C) 2023-2024 LAAS-CNRS, INRIA

Author: Wilson Jallet

Copyright: Copyright (C) 2023-2024 LAAS-CNRS, INRIA

Copyright (C) 2022 LAAS-CNRS, INRIA

Typedef Documentation

◆ DynamicsDataTpl

template<typename Scalar >

using aligator::DynamicsDataTpl = StageFunctionDataTpl<Scalar>

Definition at line 62 of file fwd.hpp.

◆ StdVectorEigenAligned

template<typename T >

using aligator::StdVectorEigenAligned = std::vector<T, Eigen::aligned_allocator<T>>

Definition at line 122 of file fwd.hpp.

◆ FlyHighResidualDataTpl

template<typename Scalar >

using aligator::FlyHighResidualDataTpl = typename FlyHighResidualTpl<Scalar>::Data

Definition at line 43 of file fly-high.hpp.

◆ uint

using aligator::uint = unsigned int

Definition at line 11 of file logger.hpp.

Enumeration Type Documentation

◆ RolloutType

enum struct aligator::RolloutType

strong

Enumerator
LINEAR	Linear rollout.
NONLINEAR	Nonlinear rollout, using the full dynamics.

Definition at line 5 of file enums.hpp.

◆ ErrorCode

enum struct aligator::ErrorCode

strong

Enumerator
UNINITIALIZED
UNSUPPORTED_OPTION
NAN_DETECTED

Definition at line 12 of file enums.hpp.

◆ HessianApprox

enum struct aligator::HessianApprox

strong

Enumerator
EXACT	Use exact Hessian.
GAUSS_NEWTON	Use the Gauss-Newton approximation.
BFGS	Use a BFGS-type approximation.

Definition at line 14 of file enums.hpp.

◆ MultiplierUpdateMode

enum struct aligator::MultiplierUpdateMode

strong

Enumerator
NEWTON
PRIMAL
PRIMAL_DUAL

Definition at line 23 of file enums.hpp.

◆ LinesearchMode

enum struct aligator::LinesearchMode

strong

Whether to use merit functions in primal or primal-dual mode.

Enumerator
PRIMAL
PRIMAL_DUAL

Definition at line 26 of file enums.hpp.

◆ StepAcceptanceStrategy

enum struct aligator::StepAcceptanceStrategy

strong

Whether to use linesearch or filter during step acceptance phase.

Enumerator
LINESEARCH
FILTER

Definition at line 29 of file enums.hpp.

◆ LQSolverChoice

enum class aligator::LQSolverChoice

strong

Enumerator
SERIAL
PARALLEL
STAGEDENSE

Definition at line 35 of file solver-proxddp.hpp.

Function Documentation

◆ operator<<() [1/3]

template<typename S >

std::ostream & aligator::operator<<	(	std::ostream &	oss,
		const ExplicitDynamicsDataTpl< S > &	self )

Definition at line 85 of file explicit-dynamics.hpp.

◆ operator<<() [2/3]

template<typename Scalar >

std::ostream & aligator::operator<<	(	std::ostream &	oss,
		const ResultsBaseTpl< Scalar > &	self )

Definition at line 97 of file results-base.hpp.

◆ xs_default_init()

template<typename Scalar >

void aligator::xs_default_init	(	const TrajOptProblemTpl< Scalar > &	problem,
		std::vector< typename math_types< Scalar >::VectorXs > &	xs )

Default-intialize a trajectory to the neutral states for each state space at each stage.

Definition at line 13 of file solver-util.hpp.

◆ us_default_init()

template<typename Scalar >

void aligator::us_default_init	(	const TrajOptProblemTpl< Scalar > &	problem,
		std::vector< typename math_types< Scalar >::VectorXs > &	us )

Default-initialize a controls trajectory from the neutral element of each control space.

Definition at line 37 of file solver-util.hpp.

◆ problemInitializeSolution()

template<typename Scalar >

auto aligator::problemInitializeSolution ( const TrajOptProblemTpl< Scalar > & problem )

Definition at line 48 of file solver-util.hpp.

◆ check_trajectory_and_assign()

template<typename Scalar >

void aligator::check_trajectory_and_assign	(	const TrajOptProblemTpl< Scalar > &	problem,
		const typename math_types< Scalar >::VectorOfVectors &	xs_init,
		const typename math_types< Scalar >::VectorOfVectors &	us_init,
		typename math_types< Scalar >::VectorOfVectors &	xs_out,
		typename math_types< Scalar >::VectorOfVectors &	us_out )

Check the input state-control trajectory is a consistent warm-start for the output.

Definition at line 75 of file solver-util.hpp.

◆ allocate_shared_eigen_aligned()

template<typename T , typename... Args>

auto aligator::allocate_shared_eigen_aligned ( Args &&... args )

inline

Definition at line 125 of file fwd.hpp.

◆ eigenPrintWithPreamble()

template<typename D >

auto aligator::eigenPrintWithPreamble	(	const Eigen::EigenBase< D > &	mat,
		const std::string &	text )

Prints an Eigen object using Eigen::IOFormat with a piece of text prepended and all rows shifted by the length of that text.

Definition at line 36 of file math.hpp.

◆ directSum() [1/2]

template<typename Scalar >

auto aligator::directSum	(	shared_ptr< CostAbstractTpl< Scalar > > const &	c1,
		shared_ptr< CostAbstractTpl< Scalar > > const &	c2 )

Definition at line 123 of file cost-direct-sum.hpp.

◆ operator+() [1/4]

template<typename T >

shared_ptr< CostStackTpl< T > > aligator::operator+	(	const CostPtr< T > &	c1,
		const CostPtr< T > &	c2 )

Definition at line 65 of file sum-of-costs.hpp.

◆ operator+() [2/4]

template<typename T >

shared_ptr< CostStackTpl< T > > aligator::operator+	(	shared_ptr< CostStackTpl< T > > &&	c1,
		const CostPtr< T > &	c2 )

Definition at line 71 of file sum-of-costs.hpp.

◆ operator+() [3/4]

template<typename T >

shared_ptr< CostStackTpl< T > > aligator::operator+	(	shared_ptr< CostStackTpl< T > > &&	c1,
		CostPtr< T > &&	c2 )

Definition at line 78 of file sum-of-costs.hpp.

◆ operator+() [4/4]

template<typename T >

shared_ptr< CostStackTpl< T > > aligator::operator+	(	const shared_ptr< CostStackTpl< T > > &	c1,
		CostPtr< T > &&	c2 )

Definition at line 85 of file sum-of-costs.hpp.

◆ operator*() [1/2]

template<typename T >

shared_ptr< CostStackTpl< T > > aligator::operator*	(	T	u,
		const CostPtr< T > &	c1 )

Definition at line 92 of file sum-of-costs.hpp.

◆ operator*() [2/2]

template<typename T >

shared_ptr< CostStackTpl< T > > aligator::operator*	(	T	u,
		shared_ptr< CostStackTpl< T > > &&	c1 )

Definition at line 97 of file sum-of-costs.hpp.

◆ directSum() [2/2]

template<typename Scalar >

auto aligator::directSum	(	shared_ptr< ExplicitDynamicsModelTpl< Scalar > > const &	m1,
		shared_ptr< ExplicitDynamicsModelTpl< Scalar > > const &	m2 )

Definition at line 53 of file explicit-dynamics-direct-sum.hpp.

◆ linear_compose() [1/2]

template<typename Scalar >

auto aligator::linear_compose	(	shared_ptr< StageFunctionTpl< Scalar > >	func,
		const typename math_types< Scalar >::ConstMatrixRef	A,
		const typename math_types< Scalar >::ConstVectorRef	b )

Create a linear composition of the input function func.

Definition at line 108 of file linear-function-composition.hpp.

◆ linear_compose() [2/2]

template<typename Scalar >

auto aligator::linear_compose	(	shared_ptr< UnaryFunctionTpl< Scalar > >	func,
		const typename math_types< Scalar >::ConstMatrixRef	A,
		const typename math_types< Scalar >::ConstVectorRef	b )

Create a linear composition of the input function func. This will return a UnaryFunctionTpl.

Definition at line 116 of file linear-function-composition.hpp.

◆ underactuatedConstrainedInverseDynamics()

template<typename Scalar , typename ConfigType , typename VelType , typename MatrixType , typename OutType , int Options>

void aligator::underactuatedConstrainedInverseDynamics	(	const ModelTpl< Scalar, Options > &	model,
		DataTpl< Scalar, Options > &	data,
		const Eigen::MatrixBase< ConfigType > &	q,
		Eigen::MatrixBase< VelType > const &	v,
		const Eigen::MatrixBase< MatrixType > &	actMatrix,
		const StdVectorEigenAligned< RigidConstraintModelTpl< Scalar, Options > > &	constraint_models,
		StdVectorEigenAligned< RigidConstraintDataTpl< Scalar, Options > > &	constraint_datas,
		const Eigen::MatrixBase< OutType > &	res_ )

Definition at line 22 of file constrained-rnea.hpp.

◆ fddp_goldstein_linesearch()

template<typename Scalar , typename F , typename M >

ALIGATOR_INLINE std::pair< Scalar, Scalar > aligator::fddp_goldstein_linesearch	(	F &&	phi,
		M &&	model,
		const Scalar	phi0,
		const typename Linesearch< Scalar >::Options &	ls_params,
		Scalar	th_grad,
		Scalar &	d1,
		Scalar	th_accept_step = 0.1,
		Scalar	th_accept_neg_step = 2.0 )

The backtracking linesearch from FDDP (Mastalli et al).

The conditions that are checked for are not exactly the Goldstein conditions.

Returns: an std::pair

Definition at line 15 of file linesearch.hpp.

◆ costDirectionalDerivative()

template<typename Scalar >

Scalar aligator::costDirectionalDerivative	(	const WorkspaceTpl< Scalar > &	workspace,
		const TrajOptDataTpl< Scalar > &	prob_data )

◆ operator<<() [3/3]

template<typename Scalar >

std::ostream & aligator::operator<<	(	std::ostream &	oss,
		const ResultsTpl< Scalar > &	self )

Definition at line 41 of file results.hpp.

◆ getConstraintProductSet()

template<typename Scalar >

auto aligator::getConstraintProductSet ( const ConstraintStackTpl< Scalar > & constraints )

Definition at line 18 of file workspace.hpp.

◆ rotate_vec_left()

template<typename T , typename Alloc >

void aligator::rotate_vec_left	(	std::vector< T, Alloc > &	v,
		long	n_head = 0,
		long	n_tail = 0 )

Simply rotate an entire std::vector to the left.

Template Parameters

T
Alloc

Parameters

n_head	The length of the vector (at the head) to keep.
n_tail	The length of the vector (at the tail ) to keep.

Definition at line 17 of file mpc-util.hpp.

◆ rollout() [1/6]

template<typename Scalar >

math_types< Scalar >::VectorOfVectors aligator::rollout	(	const std::vector< shared_ptr< DynamicsModelTpl< Scalar > > > &	dyn_models,
		const typename math_types< Scalar >::VectorXs &	x0,
		const typename math_types< Scalar >::VectorOfVectors &	us,
		typename math_types< Scalar >::VectorOfVectors &	xout )

Perform a rollout of the supplied dynamical models.

Definition at line 10 of file rollout.hpp.

◆ rollout() [2/6]

template<typename Scalar >

math_types< Scalar >::VectorOfVectors aligator::rollout	(	const DynamicsModelTpl< Scalar > &	dyn_model,
		const typename math_types< Scalar >::VectorXs &	x0,
		const typename math_types< Scalar >::VectorOfVectors &	us )

Perform a rollout of the supplied dynamical models.

Definition at line 36 of file rollout.hpp.

◆ rollout() [3/6]

template<typename Scalar >

void aligator::rollout	(	const std::vector< shared_ptr< ExplicitDynamicsModelTpl< Scalar > > > &	dyn_models,
		const typename math_types< Scalar >::VectorXs &	x0,
		const typename math_types< Scalar >::VectorOfVectors &	us,
		typename math_types< Scalar >::VectorOfVectors &	xout )

Perform a rollout of the supplied dynamical models.

This overload applies to explicit forward dynamics.

Definition at line 57 of file rollout.hpp.

◆ rollout() [4/6]

template<typename Scalar >

void aligator::rollout	(	const ExplicitDynamicsModelTpl< Scalar > &	dyn_model,
		const typename math_types< Scalar >::VectorXs &	x0,
		const typename math_types< Scalar >::VectorOfVectors &	us,
		typename math_types< Scalar >::VectorOfVectors &	xout )

Perform a rollout of the supplied dynamical models. Rolls out a single ExplicitDynamicsModelTpl.

Definition at line 83 of file rollout.hpp.

◆ rollout() [5/6]

template<template< typename > class C, typename Scalar >

math_types< Scalar >::VectorOfVectors aligator::rollout	(	const C< Scalar > &	dms,
		const typename math_types< Scalar >::VectorXs &	x0,
		const typename math_types< Scalar >::VectorOfVectors &	us )

Perform a rollout of the supplied dynamical models. This variant allocates the output and returns it.

Definition at line 103 of file rollout.hpp.

◆ rollout() [6/6]

template<template< typename > class C, typename Scalar >

math_types< Scalar >::VectorOfVectors aligator::rollout	(	const std::vector< shared_ptr< C< Scalar > > > &	dms,
		const typename math_types< Scalar >::VectorXs &	x0,
		const typename math_types< Scalar >::VectorOfVectors &	us )

Perform a rollout of the supplied dynamical models. This variant allocates the output and returns it.

Definition at line 115 of file rollout.hpp.

◆ printVersion()

std::string aligator::printVersion ( const std::string & delimiter = "." )

inline

Pretty-print the package version number.

Parameters

delimiter The delimiter between the major/minor/patch version components.

Definition at line 13 of file version.hpp.

◆ _process()

aligator._process ( )

protected

Definition at line 15 of file __init__.py.

Variable Documentation

◆ int_format

constexpr std::string_view aligator::int_format = "{: >{}d}"

constexpr

Definition at line 13 of file logger.hpp.

◆ sci_format

constexpr std::string_view aligator::sci_format = "{: >{}.4e}"

constexpr

Definition at line 14 of file logger.hpp.

◆ dbl_format

constexpr std::string_view aligator::dbl_format = "{: >{}.4g}"

constexpr

Definition at line 15 of file logger.hpp.

◆ BASIC_KEYS

const std::array<LogColumn, 11> aligator::BASIC_KEYS

static

Initial value:

= {
    {{"iter", int_format, 5U},
     {"alpha", sci_format, 10U},
     {"inner_crit", sci_format, 10U},
     {"prim_err", sci_format, 10U},
     {"dual_err", sci_format, 10U},
     {"preg", sci_format, 10U},
     {"dphi0", sci_format, 11U},
     {"merit", sci_format, 11U},
     {"ΔM", sci_format, 11U},
     {"aliter", int_format, 7U},
     {"mu", dbl_format, 8U}}}

Definition at line 23 of file logger.hpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ DynamicsDataTpl

◆ StdVectorEigenAligned

◆ FlyHighResidualDataTpl

◆ uint

Enumeration Type Documentation

◆ RolloutType

◆ ErrorCode

◆ HessianApprox

◆ MultiplierUpdateMode

◆ LinesearchMode

◆ StepAcceptanceStrategy

◆ LQSolverChoice

Function Documentation

◆ operator<<() [1/3]

◆ operator<<() [2/3]

◆ xs_default_init()

◆ us_default_init()

◆ problemInitializeSolution()

◆ check_trajectory_and_assign()

◆ allocate_shared_eigen_aligned()

◆ eigenPrintWithPreamble()

◆ directSum() [1/2]

◆ operator+() [1/4]

◆ operator+() [2/4]

◆ operator+() [3/4]

◆ operator+() [4/4]

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ directSum() [2/2]

◆ linear_compose() [1/2]

◆ linear_compose() [2/2]

◆ underactuatedConstrainedInverseDynamics()

◆ fddp_goldstein_linesearch()

◆ costDirectionalDerivative()

◆ operator<<() [3/3]

◆ getConstraintProductSet()

◆ rotate_vec_left()

◆ rollout() [1/6]

◆ rollout() [2/6]

◆ rollout() [3/6]

◆ rollout() [4/6]

◆ rollout() [5/6]

◆ rollout() [6/6]

◆ printVersion()

◆ _process()

Variable Documentation

◆ int_format

◆ sci_format

◆ dbl_format

◆ BASIC_KEYS