Main package namespace. More...

Namespaces
namespace	autodiff

namespace	compat
	Headers for compatibility modules.

namespace	context

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	ALFunction
	Primal-dual augmented Lagrangian merit function. More...

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	ArenaMatrix

class	ArmijoLinesearch
	Basic backtracking Armijo line-search strategy. More...

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

struct	BoxConstraintTpl
	Box constraint set \(z \in [z_\min, z_\max]\). More...

struct	BunchKaufman

struct	CallbackBaseTpl
	Base callback class. More...

struct	CartesianProductTpl
	The cartesian product of two or more manifolds. 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	CentroidalFrictionConeDataTpl
	This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \). More...

struct	CentroidalFrictionConeResidualTpl

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	CentroidalWrenchConeDataTpl
	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	CentroidalWrenchConeResidualTpl

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

struct	ConstantCostTpl
	Constant cost. More...

class	ConstraintProximalScalerTpl

struct	ConstraintSetProductTpl
	Cartesian product of multiple constraint sets. This class makes computing multipliers and Jacobian matrix projections more convenient. More...

struct	ConstraintSetTpl
	Base constraint set type. More...

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

struct	ContactForceDataTpl

struct	ContactForceResidualTpl
	This residual returns the derivative of centroidal momentum for a kinodynamics model. 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	DCMPositionDataTpl

struct	DCMPositionResidualTpl

struct	DirectSumCostTpl

struct	DirectSumExplicitDynamicsTpl

struct	DynamicsDataTpl

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

struct	EqualityConstraintTpl
	Equality constraints \(c(x) = 0\). 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	ExtendedStringHash
	Extended hashing function for strings which supports const char* and std::string_view. More...

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

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

struct	ForwardDynamicsOptions

struct	frame_api

struct	FrameCollisionDataTpl

struct	FrameCollisionResidualTpl

struct	FramePlacementDataTpl

struct	FramePlacementResidualTpl

struct	FrameTranslationDataTpl

struct	FrameTranslationResidualTpl

struct	FrameVelocityDataTpl

struct	FrameVelocityResidualTpl

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, StageFunctionTpl< Scalar > >

struct	FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >

struct	GravityCompensationResidualTpl

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

struct	is_eigen

struct	is_tpl_base_of

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

class	Linesearch
	Base linesearch class. Design pattern inspired by Google Ceres-Solver. More...

struct	LinesearchOptions

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	ManifoldAbstractTpl
	Base class for manifolds, to use in cost funcs, solvers... More...

struct	math_types
	Typedefs for math (Eigen vectors, matrices) depending on scalar type. More...

class	mimalloc_resource
	A memory_resource wrapping around mimalloc. More...

struct	MultibodyConfiguration
	Multibody configuration group \(\mathcal{Q}\), defined using the Pinocchio library. More...

struct	MultibodyFrictionConeDataTpl

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

struct	MultibodyPhaseSpace
	The tangent bundle of a multibody configuration group. More...

struct	MultibodyWrenchConeDataTpl

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

struct	NegativeOrthantTpl
	Negative orthant, for constraints \(h(x)\leq 0\). More...

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

struct	NonmonotoneLinesearch
	Nonmonotone Linesearch algorithm. Modifies the Armijo condition with a moving average of function values. More...

struct	NonsmoothPenaltyL1Tpl
	Composite \(\ell_1\)-penalty function \( \\|c(x)\\|_1 \). More...

struct	overloads
	Utility helper struct for creating visitors from lambdas. More...

struct	PinocchioLieGroup
	Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object. More...

class	polymorphic

class	polymorphic_allocator
	A convenience subclass of std::pmr::polymorphic_allocator for bytes. More...

struct	PolynomialTpl
	Polynomials represented by their coefficients in decreasing order of degree. 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	RelaxedLogBarrierCostTpl
	Log-barrier of an underlying cost function. More...

struct	ResultsBaseTpl

struct	ResultsFDDPTpl

struct	ResultsTpl
	Results holder struct. More...

class	RuntimeError

class	shared_ptr
	STL class. More...

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	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
	State error \(x \ominus x_\text{ref}\). More...

struct	TangentBundleTpl
	Tangent bundle of a base manifold M. More...

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	VectorSpaceTpl
	Standard Euclidean vector space. More...

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

struct	WorkspaceFDDPTpl
	Workspace for solver SolverFDDP. More...

struct	WorkspaceTpl
	Workspace for solver SolverProxDDP. More...

Typedefs
template<typename Base, typename U, typename A = std::allocator<U>>
using	is_polymorphic_of = std::is_same<std::decay_t<U>, xyz::polymorphic<U, A>>

template<typename T>
using	StdVectorEigenAligned = std::vector<T, Eigen::aligned_allocator<T>>
	Typedef for vector with Eigen::aligned_allocator allocator type.

template<typename T>
using	enable_if_eigen_t = std::enable_if_t<is_eigen_v<std::decay_t<T>>>

template<typename T, typename T2 = void>
using	enable_if_eigen_dense_t = std::enable_if_t<is_eigen_dense_v<T>, T2>

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

template<int D, typename Scalar>
using	SETpl = PinocchioLieGroup<pin::SpecialEuclideanOperationTpl<D, Scalar>>

template<int D, typename Scalar>
using	SOTpl = PinocchioLieGroup<pin::SpecialOrthogonalOperationTpl<D, Scalar>>

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_ARMIJO , LINESEARCH_NONMONOTONE , FILTER }
	Whether to use linesearch or filter during step acceptance phase. More...

enum class	LinesearchStrategy { ARMIJO , WOLFE }

enum class	LSInterpolation { BISECTION , QUADRATIC , CUBIC }

enum	VerboseLevel { QUIET = 0 , VERBOSE = 1 , VERYVERBOSE = 2 }
	Verbosity level. More...

enum class	LQSolverChoice { SERIAL , PARALLEL , STAGEDENSE }

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

template std::ostream &	operator<< (std::ostream &oss, const StageFunctionDataTpl< context::Scalar > &self)

template<typename Scalar>
	ArmijoLinesearch (const LinesearchOptions< Scalar > &) -> ArmijoLinesearch< Scalar >

template<typename Scalar>
	NonmonotoneLinesearch (const LinesearchOptions< Scalar > &) -> NonmonotoneLinesearch< Scalar >

template<typename Scalar>
std::ostream &	operator<< (std::ostream &oss, const StageModelTpl< Scalar > &sm)

template<typename Scalar>
Scalar	computeTrajectoryCost (const TrajOptDataTpl< Scalar > &problem_data)
	Helper for computing the trajectory cost (from pre-computed problem data).

template<typename T1, typename T2>
bool	assign_no_resize (const std::vector< T1 > &lhs, std::vector< T2 > &rhs)
	Assign a vector of Eigen types into another, ensure there is no resize.

template<typename Scalar>
void	xs_default_init (const TrajOptProblemTpl< Scalar > &problem, std::vector< typename math_types< Scalar >::VectorXs > &xs)
	Default-initialize 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>
void	check_initial_guess_and_assign (const TrajOptProblemTpl< Scalar > &problem, const typename math_types< Scalar >::VectorOfVectors &xs_in, const typename math_types< Scalar >::VectorOfVectors &us_in, 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 D>
auto	eigenPrintWithPreamble (const Eigen::EigenBase< D > &mat, std::string_view text, Eigen::IOFormat ft=EIGEN_DEFAULT_IO_FORMAT)

template<typename Derived>
auto	blockMatrixGetRow (const Eigen::MatrixBase< Derived > &matrix, boost::span< const Eigen::Index > rowBlockSizes, std::size_t rowIdx)

template<typename Derived>
auto	blockVectorGetRow (const Eigen::MatrixBase< Derived > &matrix, boost::span< const Eigen::Index > blockSizes, std::size_t blockIdx)

template<typename Scalar>
auto	directSum (xyz::polymorphic< CostAbstractTpl< Scalar > > const &c1, xyz::polymorphic< CostAbstractTpl< Scalar > > const &c2)

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

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

template<typename T>
xyz::polymorphic< CostStackTpl< T > >	operator+ (xyz::polymorphic< CostStackTpl< T > > &&c1, CostPtr< T > &&c2)

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

template<typename T>
xyz::polymorphic< CostStackTpl< T > >	operator* (T u, xyz::polymorphic< CostStackTpl< T > > &&c1)

template<typename Scalar>
auto	directSum (xyz::polymorphic< ExplicitDynamicsModelTpl< Scalar > > const &m1, xyz::polymorphic< ExplicitDynamicsModelTpl< Scalar > > const &m2)

template<typename Scalar>
auto	linear_compose (xyz::polymorphic< 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 (xyz::polymorphic< 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 T>
auto	operator* (const xyz::polymorphic< ManifoldAbstractTpl< T > > &left, const xyz::polymorphic< ManifoldAbstractTpl< T > > &right)

template<typename T>
auto	operator* (const CartesianProductTpl< T > &left, const xyz::polymorphic< ManifoldAbstractTpl< T > > &right)

template<typename T>
auto	operator* (const xyz::polymorphic< ManifoldAbstractTpl< T > > &left, const CartesianProductTpl< T > &right)

template<typename T>
auto	operator* (const CartesianProductTpl< T > &left, const CartesianProductTpl< T > &right)

template<typename G>
	PinocchioLieGroup (const G &) -> PinocchioLieGroup< G >

template<class... Ts>
	overloads (Ts...) -> overloads< Ts... >

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)
	Compute the directional derivative of the cost function.

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

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

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

template<typename T, template< typename > class M, typename D = typename M<T>::Data>
void	forwardDynamics (const M< T > &model, const typename math_types< T >::ConstVectorRef &x, const typename math_types< T >::ConstVectorRef &u, D &data, const typename math_types< T >::VectorRef xout, const std::optional< typename math_types< T >::ConstVectorRef > &gap=std::nullopt, ForwardDynamicsOptions< T > opts={})
	Evaluates the forward map for a discrete dynamics model, implicit or explicit.

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< xyz::polymorphic< 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< xyz::polymorphic< 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< xyz::polymorphic< 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.

	_process ()

Variables
template<typename Base, typename U, typename A = std::allocator<U>>
constexpr bool	is_polymorphic_of_v = is_polymorphic_of<Base, U, A>::value

template<template< class > class Base, typename Derived>
constexpr bool	is_tpl_base_of_v = is_tpl_base_of<Base, Derived>::value

template<typename T>
constexpr bool	is_eigen_v = is_eigen<T>::value

template<typename T>
constexpr bool	is_eigen_dense_v = is_tpl_base_of_v<Eigen::DenseBase, T>

template<typename T>
constexpr bool	is_eigen_matrix_v

template<typename G>
constexpr bool	is_pinocchio_lie_group

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

constexpr std::string_view	sci_format = "{: >{}.3e} "

constexpr std::string_view	dbl_format = "{: >{}.3g} "

static const LogColumn	BASIC_KEYS [12]

tuple	ALIGATOR_PINOCCHIO_V4

Detailed Description

Main package namespace.

Copyright: Copyright (C) 2022-2024 LAAS-CNRS, INRIA; Copyright (C) 2024-2025 INRIA; Copyright (C) 2023-2024 LAAS-CNRS, 2023-2025 INRIA

Author: Wilson Jallet

Copyright: Copyright (C) 2025 INRIA

The following overload for get_pointer is defined here, to avoid conflicts with other Boost libraries using get_pointer() without seeing this overload if included later.

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

Author: Wilson Jallet

Copyright: Copyright (C) 2025 INRIA

Author: Wilson Jallet

Copyright: Copyright (C) 2023-2024 LAAS-CNRS, 2023-2025 INRIA; Copyright (C) 2023-2024 LAAS-CNRS, 2023-2O25 INRIA; Copyright (C) 2024 LAAS-CNRS, 2024-2025 INRIA

Author: Wilson Jallet

Copyright: Copyright (C) 2022 LAAS-CNRS, INRIA; Copyright (C) 2022-2024 LAAS-CNRS, 2022-2025 INRIA

Copyright (C) 2022 LAAS-CNRS, 2022-2025 INRIA

Copyright: Copyright (C) 2023 LAAS-CNRS, INRIA; Copyright (C) 2022-2023 LAAS-CNRS, 2022-2025 INRIA; Copyright (C) 2022 LAAS-CNRS, 2022-2025 INRIA; Copyright (C) 2023-2024 LAAS-CNRS, INRIA

Typedef Documentation

◆ is_polymorphic_of

template<typename Base, typename U, typename A = std::allocator<U>>

using aligator::is_polymorphic_of = std::is_same<std::decay_t<U>, xyz::polymorphic<U, A>>

Definition at line 65 of file fwd.hpp.

◆ StdVectorEigenAligned

template<typename T>

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

Typedef for vector with Eigen::aligned_allocator allocator type.

Warning: Only use this in specific interfaces, e.g. involving Eigen.

Definition at line 170 of file fwd.hpp.

◆ enable_if_eigen_t

template<typename T>

using aligator::enable_if_eigen_t = std::enable_if_t<is_eigen_v<std::decay_t<T>>>

Definition at line 76 of file math.hpp.

◆ enable_if_eigen_dense_t

template<typename T, typename T2 = void>

using aligator::enable_if_eigen_dense_t = std::enable_if_t<is_eigen_dense_v<T>, T2>

Definition at line 82 of file math.hpp.

◆ FlyHighResidualDataTpl

template<typename Scalar>

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

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

◆ SETpl

template<int D, typename Scalar>

using aligator::SETpl = PinocchioLieGroup<pin::SpecialEuclideanOperationTpl<D, Scalar>>

Definition at line 118 of file pinocchio-groups.hpp.

◆ SOTpl

template<int D, typename Scalar>

using aligator::SOTpl = PinocchioLieGroup<pin::SpecialOrthogonalOperationTpl<D, Scalar>>

Definition at line 121 of file pinocchio-groups.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_ARMIJO
LINESEARCH_NONMONOTONE
FILTER

Definition at line 29 of file enums.hpp.

◆ LinesearchStrategy

enum class aligator::LinesearchStrategy

strong

Enumerator
ARMIJO
WOLFE

Definition at line 10 of file linesearch-base.hpp.

◆ LSInterpolation

enum class aligator::LSInterpolation

strong

Enumerator
BISECTION
QUADRATIC
CUBIC

Definition at line 11 of file linesearch-base.hpp.

◆ VerboseLevel

enum aligator::VerboseLevel

Verbosity level.

Enumerator
QUIET
VERBOSE
VERYVERBOSE

Definition at line 82 of file fwd.hpp.

◆ LQSolverChoice

enum class aligator::LQSolverChoice

strong

Enumerator
SERIAL
PARALLEL
STAGEDENSE

Definition at line 25 of file solver-proxddp.hpp.

Function Documentation

◆ operator<<() [1/5]

template<typename T>

std::ostream & aligator::operator<<	(	std::ostream &	oss,
		const StageFunctionDataTpl< T > &	self )

◆ operator<<() [2/5]

template std::ostream & aligator::operator<<	(	std::ostream &	oss,
		const StageFunctionDataTpl< context::Scalar > &	self )

extern

◆ ArmijoLinesearch()

template<typename Scalar>

aligator::ArmijoLinesearch ( const LinesearchOptions< Scalar > & ) -> ArmijoLinesearch< Scalar >

◆ NonmonotoneLinesearch()

template<typename Scalar>

aligator::NonmonotoneLinesearch ( const LinesearchOptions< Scalar > & ) -> NonmonotoneLinesearch< Scalar >

◆ operator<<() [3/5]

template<typename Scalar>

std::ostream & aligator::operator<<	(	std::ostream &	oss,
		const StageModelTpl< Scalar > &	sm )

Definition at line 168 of file stage-model.hpp.

◆ computeTrajectoryCost()

template<typename Scalar>

Scalar aligator::computeTrajectoryCost ( const TrajOptDataTpl< Scalar > & problem_data )

Helper for computing the trajectory cost (from pre-computed problem data).

Warning: Call TrajOptProblemTpl::evaluate() first!

◆ assign_no_resize()

template<typename T1, typename T2>

bool aligator::assign_no_resize	(	const std::vector< T1 > &	lhs,
		std::vector< T2 > &	rhs )

nodiscard

Assign a vector of Eigen types into another, ensure there is no resize.

Definition at line 68 of file traj-opt-problem.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-initialize a trajectory to the neutral states for each state space at each stage.

Definition at line 282 of file traj-opt-problem.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 306 of file traj-opt-problem.hpp.

◆ check_initial_guess_and_assign()

template<typename Scalar>

void aligator::check_initial_guess_and_assign	(	const TrajOptProblemTpl< Scalar > &	problem,
		const typename math_types< Scalar >::VectorOfVectors &	xs_in,
		const typename math_types< Scalar >::VectorOfVectors &	us_in,
		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.

If the state trajectory xs_in is empty, then both states and controls will be reinitialized using the problem object's set initialization strategy. Otherwise, if the controls container is empty, they (only the controls) will be default-initialized. Finally, if neither are empty, we attempt to assign the given xs_in and us_in values.

Definition at line 326 of file traj-opt-problem.hpp.

◆ eigenPrintWithPreamble()

template<typename D>

auto aligator::eigenPrintWithPreamble	(	const Eigen::EigenBase< D > &	mat,
		std::string_view	text,
		Eigen::IOFormat	ft = EIGEN_DEFAULT_IO_FORMAT )

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 131 of file math.hpp.

◆ blockMatrixGetRow()

template<typename Derived>

auto aligator::blockMatrixGetRow	(	const Eigen::MatrixBase< Derived > &	matrix,
		boost::span< const Eigen::Index >	rowBlockSizes,
		std::size_t	rowIdx )

Definition at line 12 of file constraint-set-product.hpp.

◆ blockVectorGetRow()

template<typename Derived>

auto aligator::blockVectorGetRow	(	const Eigen::MatrixBase< Derived > &	matrix,
		boost::span< const Eigen::Index >	blockSizes,
		std::size_t	blockIdx )

Definition at line 24 of file constraint-set-product.hpp.

◆ directSum() [1/2]

template<typename Scalar>

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

Definition at line 127 of file cost-direct-sum.hpp.

◆ operator+() [1/4]

template<typename T>

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

Definition at line 127 of file sum-of-costs.hpp.

◆ operator+() [2/4]

template<typename T>

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

Definition at line 134 of file sum-of-costs.hpp.

◆ operator+() [3/4]

template<typename T>

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

Definition at line 141 of file sum-of-costs.hpp.

◆ operator+() [4/4]

template<typename T>

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

Definition at line 148 of file sum-of-costs.hpp.

◆ operator*() [1/5]

template<typename T>

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

Definition at line 155 of file sum-of-costs.hpp.

◆ directSum() [2/2]

template<typename Scalar>

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

Definition at line 54 of file explicit-dynamics-direct-sum.hpp.

◆ linear_compose() [1/2]

template<typename Scalar>

auto aligator::linear_compose	(	xyz::polymorphic< 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 100 of file linear-function-composition.hpp.

◆ linear_compose() [2/2]

template<typename Scalar>

auto aligator::linear_compose	(	xyz::polymorphic< 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 108 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 21 of file constrained-rnea.hpp.

◆ operator*() [2/5]

template<typename T>

auto aligator::operator*	(	const xyz::polymorphic< ManifoldAbstractTpl< T > > &	left,
		const xyz::polymorphic< ManifoldAbstractTpl< T > > &	right )

Definition at line 158 of file cartesian-product.hpp.

◆ operator*() [3/5]

template<typename T>

auto aligator::operator*	(	const CartesianProductTpl< T > &	left,
		const xyz::polymorphic< ManifoldAbstractTpl< T > > &	right )

Definition at line 164 of file cartesian-product.hpp.

◆ operator*() [4/5]

template<typename T>

auto aligator::operator*	(	const xyz::polymorphic< ManifoldAbstractTpl< T > > &	left,
		const CartesianProductTpl< T > &	right )

Definition at line 172 of file cartesian-product.hpp.

◆ operator*() [5/5]

template<typename T>

auto aligator::operator*	(	const CartesianProductTpl< T > &	left,
		const CartesianProductTpl< T > &	right )

Definition at line 178 of file cartesian-product.hpp.

◆ PinocchioLieGroup()

template<typename G>

aligator::PinocchioLieGroup ( const G & ) -> PinocchioLieGroup< G >

◆ overloads()

template<class... Ts>

aligator::overloads ( Ts... ) -> overloads< Ts... >

◆ 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 17 of file linesearch.hpp.

◆ costDirectionalDerivative()

template<typename Scalar>

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

Compute the directional derivative of the cost function.

◆ operator<<() [4/5]

template<typename Scalar>

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

Definition at line 46 of file results.hpp.

◆ getConstraintProductSet()

template<typename Scalar>

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

Definition at line 15 of file workspace.hpp.

◆ operator<<() [5/5]

template<typename Scalar>

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

Definition at line 103 of file results-base.hpp.

◆ forwardDynamics()

template<typename T, template< typename > class M, typename D = typename M<T>::Data>

void aligator::forwardDynamics	(	const M< T > &	model,
		const typename math_types< T >::ConstVectorRef &	x,
		const typename math_types< T >::ConstVectorRef &	u,
		D &	data,
		const typename math_types< T >::VectorRef	xout,
		const std::optional< typename math_types< T >::ConstVectorRef > &	gap = std::nullopt,
		ForwardDynamicsOptions< T >	opts = {} )

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

If the given model is explicit then this function will just use the ExplicitDynamicsModelTpl::forward() method.

Definition at line 65 of file forward-dyn.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< xyz::polymorphic< 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 11 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 37 of file rollout.hpp.

◆ rollout() [3/6]

template<typename Scalar>

void aligator::rollout	(	const std::vector< xyz::polymorphic< 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 58 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 84 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 104 of file rollout.hpp.

◆ rollout() [6/6]

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

math_types< Scalar >::VectorOfVectors aligator::rollout	(	const std::vector< xyz::polymorphic< 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 116 of file rollout.hpp.

◆ _process()

aligator._process ( )

protected

Definition at line 10 of file __init__.py.

Variable Documentation

◆ is_polymorphic_of_v

template<typename Base, typename U, typename A = std::allocator<U>>

bool aligator::is_polymorphic_of_v = is_polymorphic_of<Base, U, A>::value

constexpr

Definition at line 68 of file fwd.hpp.

◆ is_tpl_base_of_v

template<template< class > class Base, typename Derived>

bool aligator::is_tpl_base_of_v = is_tpl_base_of<Base, Derived>::value

inlineconstexpr

Definition at line 68 of file math.hpp.

◆ is_eigen_v

template<typename T>

bool aligator::is_eigen_v = is_eigen<T>::value

inlineconstexpr

Definition at line 73 of file math.hpp.

◆ is_eigen_dense_v

template<typename T>

bool aligator::is_eigen_dense_v = is_tpl_base_of_v<Eigen::DenseBase, T>

inlineconstexpr

Definition at line 79 of file math.hpp.

◆ is_eigen_matrix_v

template<typename T>

bool aligator::is_eigen_matrix_v

inlineconstexpr

Initial value:

=

is_tpl_base_of_v<Eigen::MatrixBase, T>

aligator::is_tpl_base_of_v

constexpr bool is_tpl_base_of_v

Definition math.hpp:68

Definition at line 85 of file math.hpp.

◆ is_pinocchio_lie_group

template<typename G>

bool aligator::is_pinocchio_lie_group

inlineconstexpr

Initial value:

=

std::is_base_of_v<pin::LieGroupBase<G>, G>

Type trait. Indicates whether

Template Parameters

G	is derived from pinocchio::LieGroupBase.

Definition at line 17 of file pinocchio-groups.hpp.

◆ int_format

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

constexpr

Definition at line 13 of file logger.hpp.

◆ sci_format

std::string_view aligator::sci_format = "{: >{}.3e} "

constexpr

Definition at line 14 of file logger.hpp.

◆ dbl_format

std::string_view aligator::dbl_format = "{: >{}.3g} "

constexpr

Definition at line 15 of file logger.hpp.

◆ BASIC_KEYS

const LogColumn aligator::BASIC_KEYS[12]

static

Initial value:

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

Definition at line 23 of file logger.hpp.

◆ ALIGATOR_PINOCCHIO_V4

tuple aligator.ALIGATOR_PINOCCHIO_V4

Initial value:

=  (
        pinocchio.__version__ == "3.99.0" or pinocchio.PINOCCHIO_MAJOR_VERSION >= 4
    )

Definition at line 30 of file __init__.py.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ is_polymorphic_of

◆ StdVectorEigenAligned

◆ enable_if_eigen_t

◆ enable_if_eigen_dense_t

◆ FlyHighResidualDataTpl

◆ SETpl

◆ SOTpl

◆ uint

Enumeration Type Documentation

◆ RolloutType

◆ ErrorCode

◆ HessianApprox

◆ MultiplierUpdateMode

◆ LinesearchMode

◆ StepAcceptanceStrategy

◆ LinesearchStrategy

◆ LSInterpolation

◆ VerboseLevel

◆ LQSolverChoice

Function Documentation

◆ operator<<() [1/5]

◆ operator<<() [2/5]

◆ ArmijoLinesearch()

◆ NonmonotoneLinesearch()

◆ operator<<() [3/5]

◆ computeTrajectoryCost()

◆ assign_no_resize()

◆ xs_default_init()

◆ us_default_init()

◆ check_initial_guess_and_assign()

◆ eigenPrintWithPreamble()

◆ blockMatrixGetRow()

◆ blockVectorGetRow()

◆ directSum() [1/2]

◆ operator+() [1/4]

◆ operator+() [2/4]

◆ operator+() [3/4]

◆ operator+() [4/4]

◆ operator*() [1/5]

◆ directSum() [2/2]

◆ linear_compose() [1/2]

◆ linear_compose() [2/2]

◆ underactuatedConstrainedInverseDynamics()

◆ operator*() [2/5]

◆ operator*() [3/5]

◆ operator*() [4/5]

◆ operator*() [5/5]

◆ PinocchioLieGroup()

◆ overloads()

◆ fddp_goldstein_linesearch()

◆ costDirectionalDerivative()

◆ operator<<() [4/5]

◆ getConstraintProductSet()

◆ operator<<() [5/5]

◆ forwardDynamics()

◆ rotate_vec_left()

◆ rollout() [1/6]

◆ rollout() [2/6]

◆ rollout() [3/6]

◆ rollout() [4/6]

◆ rollout() [5/6]

◆ rollout() [6/6]

◆ _process()

Variable Documentation

◆ is_polymorphic_of_v

◆ is_tpl_base_of_v

◆ is_eigen_v

◆ is_eigen_dense_v

◆ is_eigen_matrix_v

◆ is_pinocchio_lie_group

◆ int_format

◆ sci_format