Classes
struct	linear_func_composition_impl

struct	slice_impl_tpl
	Slicing and indexing of a function's output. More...

struct	StateOrControlErrorResidual
	Residual \(r(z) = z \ominus z_{tar} \). More...

struct	StateOrControlErrorResidual< _Scalar, 0 >
	Pure state residual. More...

Functions
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.

void	warning_impl (const char loc, const char fun, fmt::string_view fstr, fmt::format_args args)

template<typename... T>
void	warning_call (const char loc, const char fun, fmt::format_string< T... > fstr, T &&...args)

template<typename T>
void	warning_call (const char loc, const char fun, T &&msg)

std::string	exception_msg_impl (const char *filename, int lineno, fmt::string_view fstr, fmt::format_args args)

template<typename... T>
std::string	exception_msg (const char *filename, int lineno, fmt::format_string< T... > fstr, T &&...args)

Function Documentation

◆ check_initial_guess_and_assign()

template<typename Scalar>

void aligator::detail::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 82 of file solver-util.hpp.

◆ warning_impl()

void aligator::detail::warning_impl	(	const char *	loc,
		const char *	fun,
		fmt::string_view	fstr,
		fmt::format_args	args )

◆ warning_call() [1/2]

template<typename... T>

void aligator::detail::warning_call	(	const char *	loc,
		const char *	fun,
		fmt::format_string< T... >	fstr,
		T &&...	args )

Definition at line 23 of file exceptions.hpp.

◆ warning_call() [2/2]

template<typename T>

void aligator::detail::warning_call	(	const char *	loc,
		const char *	fun,
		T &&	msg )

Definition at line 28 of file exceptions.hpp.

◆ exception_msg_impl()

std::string aligator::detail::exception_msg_impl	(	const char *	filename,
		int	lineno,
		fmt::string_view	fstr,
		fmt::format_args	args )

◆ exception_msg()