aligator::python Namespace Reference

The Python bindings. More...

Classes
struct	BlkMatrixPythonVisitor
struct	BlkMatrixPythonVisitor< BlkMatrix< MatrixType, N, M > >
struct	CallbackWrapper
struct	ClonePythonVisitor
struct	ContinousDataWrapper
struct	CopyableVisitor
struct	CostDataWrapper
struct	CreateDataPolymorphicPythonVisitor
struct	CreateDataPythonVisitor
struct	ExplicitDataWrapper
struct	FrameAPIVisitor
struct	FunctionDataWrapper
	Required trampoline class. More...
struct	LinFunctionCompositionVisitor
struct	OwningNonOwningHolder
class	polymorphic
struct	PolymorphicMultiBaseVisitor
struct	PolymorphicVisitor
struct	PolymorphicVisitor< xyz::polymorphic< Base, A > >
struct	PolymorphicWrapper
struct	PrintableVisitor
struct	PrintAddressVisitor
struct	PyContinuousDynamics
struct	PyCostFunction
	Wrapper for the CostDataAbstractTpl class and its children. More...
struct	PyDynamics
struct	PyExplicitDynamics
struct	PyODEAbstract
struct	PyStageFunction
struct	PyUnaryFunction
struct	SlicingVisitor
struct	SolverVisitor

Typedefs
using	HistoryCallback = HistoryCallbackTpl<Scalar>
using	PolymorphicManifold = xyz::polymorphic<Manifold>
using	CartesianProduct = CartesianProductTpl<Scalar>
using	EqualityConstraint = EqualityConstraintTpl<Scalar>
using	NegativeOrthant = NegativeOrthantTpl<Scalar>
using	L1Penalty = NonsmoothPenaltyL1Tpl<Scalar>
using	ConstraintSetProduct = ConstraintSetProductTpl<Scalar>
using	BoxConstraint = BoxConstraintTpl<Scalar>
using	PolySet = xyz::polymorphic<ConstraintSet>
using	PolyFunc = xyz::polymorphic<StageFunction>
using	QuadraticCost = QuadraticCostTpl<Scalar>
using	PolyCost = xyz::polymorphic<CostAbstract>
using	PolyFunction = xyz::polymorphic<StageFunction>
using	StateErrorResidual = StateErrorResidualTpl<Scalar>
using	ControlErrorResidual = ControlErrorResidualTpl<Scalar>
using	PolyManifold = xyz::polymorphic<Manifold>
using	QParams = QFunctionTpl<Scalar>
using	VParams = ValueFunctionTpl<Scalar>
using	Linesearch = Linesearch<Scalar>
using	LinesearchOptions = Linesearch::Options
using	PolyUnaryFunction = xyz::polymorphic<UnaryFunction>
using	riccati_base_t = RiccatiSolverBase<Scalar>
using	lqr_t = LqrProblemTpl<context::Scalar>
using	knot_t = LqrKnotTpl<context::Scalar>
using	RowMatrixXs = Eigen::Transpose<MatrixXs>::PlainMatrix
using	knot_vec_t = lqr_t::KnotVector
using	prox_riccati_t = ProximalRiccatiSolver<Scalar>
using	stage_factor_t = StageFactor<Scalar>
using	ContactMap = ContactMapTpl<Scalar>
using	QuadResCost = QuadraticResidualCostTpl<Scalar>
using	DirectSumCost = DirectSumCostTpl<Scalar>
using	DirectSumExplicitDynamics = DirectSumExplicitDynamicsTpl<Scalar>
using	CentroidalFwdDynamics = CentroidalFwdDynamicsTpl<Scalar>
using	ContinuousCentroidalFwdDynamics
using	Vector3s = typename math_types<Scalar>::Vector3s
using	CallbackBase
using	DynamicsData
using	Scalar
using	SolverFDDP
using	SolverProxDDP
using	Manifold
using	Scalar
using	ConstraintSet
using	Scalar
using	ConstraintSet
using	ConstraintStack
using	StageFunction
using	CostAbstract
using	CostData
using	Manifold
using	Scalar
using	DynamicsModel
using	Scalar
using	StageFunction
using	StageFunctionData
using	UnaryFunction
using	Manifold
using	Scalar
using	VectorSpace
using	Scalar
using	Scalar
using	StageFunction
using	StageFunctionData
using	UnaryFunction
using	Scalar
using	Scalar
using	Scalar
using	Scalar
using	Scalar
using	Scalar
using	StageFunction
using	StageFunctionData
using	UnaryFunction
using	CostAbstract
using	CostData
using	Manifold
using	Scalar
using	StageFunction
using	Scalar
using	ContinuousDynamicsAbstract
using	ContinuousDynamicsData
using	CostAbstract
using	Manifold
using	Scalar
using	CostAbstract
using	CostData
using	Manifold
using	Scalar
using	Scalar
using	DynamicsModel
using	ExplicitDynamics
using	DynamicsData
using	DynamicsModel
using	DynamicsData
using	DynamicsModel
using	ExplicitDynamics
using	ExplicitDynamicsData
using	Scalar
using	Scalar
using	DynamicsModel
using	ExplicitDynamics
using	ExplicitDynamicsData
using	ExplicitIntegratorAbstract
using	ExplicitIntegratorData
using	IntegratorAbstract
using	Scalar
using	StageFunction
using	StageFunctionData
using	UnaryFunction
using	Scalar
using	DynamicsData
using	DynamicsModel
using	IntegratorAbstract
using	ContinuousDynamicsAbstract
using	ODEAbstract
using	ODEData
using	Scalar
using	VectorSpace
using	Manifold
using	Scalar

Functions
template<class C, class MatrixType>
bp::object	make_getter_eigen_matrix (MatrixType C::*v)
	Create a getter for Eigen::Matrix type objects which returns an Eigen::Ref.
template<class C, class MatrixType, class Policies>
bp::object	make_setter_eigen_matrix (MatrixType C::*v, Policies const &policies)
template<class C, class MatrixType>
bp::object	make_setter_eigen_matrix (MatrixType C::*v)
bp::arg	operator""_a (const char *argname, std::size_t)
	User-defined literal for defining boost::python::arg.
void	exposeGAR ()
	Expose GAR module.
void	exposeFunctions ()
	Expose stagewise function classes.
void	exposeCosts ()
	Expose cost functions.
void	exposeConstraint ()
	Expose constraints.
void	exposeStage ()
	Expose StageModel and StageData.
void	exposeProblem ()
	Expose TrajOptProblem.
void	exposeDynamics ()
	Expose discrete dynamics.
void	exposeContinuousDynamics ()
	Expose continuous dynamics.
void	exposeIntegrators ()
	Expose numerical integrators.
void	exposeSolvers ()
	Expose solvers.
void	exposeCallbacks ()
	Expose solver callbacks.
void	exposeAutodiff ()
	Expose autodiff helpers.
void	exposeUtils ()
	Expose utils.
void	exposeFilter ()
	Expose filter strategy.
template<class Poly>
void	register_polymorphic_to_python ()
	Expose a polymorphic value type, e.g. xyz::polymorphic<T, A>.
std::string	get_scope_name (bp::scope scope)
bp::object	get_namespace (const std::string &name)
	Create or retrieve a Python scope (that is, a class or module namespace).
template<typename T>
bool	register_enum_symlink (bool export_values)
void	exposeHistoryCallback ()
std::vector< VectorXs >	copy_vec_constref (const std::vector< ConstVectorRef > &x)
void	exposeCartesianProduct ()
template<typename T>
auto	exposeSpecificConstraintSet (const char *name, const char *docstring)
void	exposeConstraintSets ()
context::StageConstraint *	make_constraint_wrap (const PolyFunc &f, const PolySet &c)
void	exposeQuadCost ()
void	exposeComposites ()
	Composite cost functions.
void	exposeContactMap ()
	Centroidal cost functions.
void	exposeCentroidalFunctions ()
void	exposeCostStack ()
	fwd-declare exposeCostStack()
void	exposeCostAbstract ()
void	exposeCostOps ()
void	exposeFunctionBase ()
void	exposeUnaryFunctions ()
	Expose the UnaryFunction type and its member function overloads.
void	exposeFunctionExpressions ()
void	exposeManifolds ()
	Expose manifolds.
void	exposeFDDP ()
static void	exposeLinesearch ()
void	exposeProxDDP ()
void	exposeSolverCommon ()
	Expose base solver elements.
void	exposeStageData ()
void	exposeDenseSolver ()
static void	exposeBlockMatrices ()
void	exposeParallelSolver ()
void	exposeProxRiccati ()
void	exposeGarUtils ()
bp::dict	lqr_sol_initialize_wrap (const lqr_t &problem)
bp::tuple	lqr_create_sparse_wrap (const lqr_t &problem, const Scalar mudyn, const Scalar mueq, bool update)
void	exposeConstrainedFwdDynamics ()
void	exposeODEs ()
void	exposeExplicitDynDirectSum ()
void	exposeDynamicsBase ()
void	exposeExplicitDynamics ()
void	exposeExplicitBase ()
void	exposeLinearDiscreteDynamics ()
void	exposeExplicitIntegrators ()
template<typename Base>
void	exposeSliceExpression (const char *name)
template<typename LieGroup>
void	exposeLieGroup (const char *name, const char *docstring)
template<typename M>
bp::class_< TangentBundleTpl< M >, bp::bases< Manifold > >	exposeTangentBundle (const char *name, const char *docstring)
	Expose the tangent bundle of a manifold type M.
template<typename M, class Init>
bp::class_< TangentBundleTpl< M >, bp::bases< Manifold > >	exposeTangentBundle (const char *name, const char *docstring, Init init)
	Expose the tangent bundle with an additional constructor.
void	exposePinocchioSpaces ()
static void	exposeEnums ()
static void	exposeContainers ()

Variables
PolymorphicVisitor< PolyCost >	poly_visitor
PolymorphicMultiBaseVisitor< StageFunction >	func_visitor
PolymorphicMultiBaseVisitor< DynamicsModel, ExplicitDynamics >	exp_dynamics_visitor
const PolymorphicMultiBaseVisitor< UnaryFunction, StageFunction >	unary_visitor

Detailed Description

The Python bindings.

Copyright

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

Typedef Documentation

HistoryCallback

using aligator::python::HistoryCallback = HistoryCallbackTpl<Scalar>

Definition at line 14 of file expose-callbacks.cpp.

PolymorphicManifold

using aligator::python::PolymorphicManifold = xyz::polymorphic<Manifold>

Definition at line 8 of file expose-cartesian-product.cpp.

CartesianProduct

typedef CartesianProductTpl< Scalar > aligator::python::CartesianProduct = CartesianProductTpl<Scalar>

Definition at line 12 of file expose-cartesian-product.cpp.

EqualityConstraint

using aligator::python::EqualityConstraint = EqualityConstraintTpl<Scalar>

Definition at line 10 of file expose-constraint-set.cpp.

NegativeOrthant

using aligator::python::NegativeOrthant = NegativeOrthantTpl<Scalar>

Definition at line 11 of file expose-constraint-set.cpp.

L1Penalty

using aligator::python::L1Penalty = NonsmoothPenaltyL1Tpl<Scalar>

Definition at line 12 of file expose-constraint-set.cpp.

ConstraintSetProduct

using aligator::python::ConstraintSetProduct = ConstraintSetProductTpl<Scalar>

Definition at line 13 of file expose-constraint-set.cpp.

BoxConstraint

using aligator::python::BoxConstraint = BoxConstraintTpl<Scalar>

Definition at line 14 of file expose-constraint-set.cpp.

PolySet

typedef xyz::polymorphic< ConstraintSet > aligator::python::PolySet = xyz::polymorphic<ConstraintSet>

Definition at line 16 of file expose-constraint-set.cpp.

PolyFunc

using aligator::python::PolyFunc = xyz::polymorphic<StageFunction>

Definition at line 14 of file expose-constraint.cpp.

QuadraticCost

using aligator::python::QuadraticCost = QuadraticCostTpl<Scalar>

Definition at line 20 of file expose-costs.cpp.

PolyCost

typedef xyz::polymorphic< CostAbstract > aligator::python::PolyCost = xyz::polymorphic<CostAbstract>

Definition at line 21 of file expose-costs.cpp.

PolyFunction

typedef xyz::polymorphic< StageFunction > aligator::python::PolyFunction = xyz::polymorphic<StageFunction>

Definition at line 23 of file expose-functions.cpp.

StateErrorResidual

using aligator::python::StateErrorResidual = StateErrorResidualTpl<Scalar>

Definition at line 24 of file expose-functions.cpp.

ControlErrorResidual

using aligator::python::ControlErrorResidual = ControlErrorResidualTpl<Scalar>

Definition at line 25 of file expose-functions.cpp.

PolyManifold

typedef xyz::polymorphic< Manifold > aligator::python::PolyManifold = xyz::polymorphic<Manifold>

Definition at line 19 of file expose-manifold.cpp.

QParams

using aligator::python::QParams = QFunctionTpl<Scalar>

Definition at line 9 of file expose-solver-fddp.cpp.

VParams

using aligator::python::VParams = ValueFunctionTpl<Scalar>

Definition at line 10 of file expose-solver-fddp.cpp.

Linesearch

using aligator::python::Linesearch = Linesearch<Scalar>

Definition at line 16 of file expose-solver-prox.cpp.

LinesearchOptions

using aligator::python::LinesearchOptions = Linesearch::Options

Definition at line 17 of file expose-solver-prox.cpp.

PolyUnaryFunction

using aligator::python::PolyUnaryFunction = xyz::polymorphic<UnaryFunction>

Definition at line 14 of file expose-unary-functions.cpp.

riccati_base_t

typedef RiccatiSolverBase< Scalar > aligator::python::riccati_base_t = RiccatiSolverBase<Scalar>

Definition at line 10 of file expose-dense.cpp.

lqr_t

typedef LqrProblemTpl< context::Scalar > aligator::python::lqr_t = LqrProblemTpl<context::Scalar>

Definition at line 11 of file expose-dense.cpp.

knot_t

typedef LqrKnotTpl< context::Scalar > aligator::python::knot_t = LqrKnotTpl<context::Scalar>

Definition at line 17 of file expose-gar.cpp.

RowMatrixXs

using aligator::python::RowMatrixXs = Eigen::Transpose<MatrixXs>::PlainMatrix

Definition at line 21 of file expose-gar.cpp.

knot_vec_t

using aligator::python::knot_vec_t = lqr_t::KnotVector

Definition at line 24 of file expose-gar.cpp.

prox_riccati_t

using aligator::python::prox_riccati_t = ProximalRiccatiSolver<Scalar>

Definition at line 9 of file expose-prox-riccati.cpp.

stage_factor_t

using aligator::python::stage_factor_t = StageFactor<Scalar>

Definition at line 10 of file expose-prox-riccati.cpp.

ContactMap

typedef ContactMapTpl< Scalar > aligator::python::ContactMap = ContactMapTpl<Scalar>

Definition at line 23 of file expose-centroidal.cpp.

QuadResCost

using aligator::python::QuadResCost = QuadraticResidualCostTpl<Scalar>

Definition at line 20 of file expose-composite-costs.cpp.

DirectSumCost

using aligator::python::DirectSumCost = DirectSumCostTpl<Scalar>

Definition at line 12 of file expose-cost-ops.cpp.

DirectSumExplicitDynamics

using aligator::python::DirectSumExplicitDynamics = DirectSumExplicitDynamicsTpl<Scalar>

Definition at line 12 of file expose-direct-sum.cpp.

CentroidalFwdDynamics

using aligator::python::CentroidalFwdDynamics = CentroidalFwdDynamicsTpl<Scalar>

Definition at line 22 of file expose-ode.cpp.

ContinuousCentroidalFwdDynamics

using aligator::python::ContinuousCentroidalFwdDynamics

Initial value:

 
    ContinuousCentroidalFwdDynamicsTpl<Scalar>

Definition at line 23 of file expose-ode.cpp.

Vector3s

using aligator::python::Vector3s = typename math_types<Scalar>::Vector3s

Definition at line 25 of file expose-ode.cpp.

CallbackBase

using aligator::context::CallbackBase

Definition at line 33 of file context.hpp.

DynamicsData [1/4]

using aligator::context::DynamicsData

Definition at line 29 of file context.hpp.

Scalar [1/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

SolverFDDP

using aligator::context::SolverFDDP

Definition at line 43 of file context.hpp.

SolverProxDDP

using aligator::context::SolverProxDDP

Definition at line 42 of file context.hpp.

Manifold [1/7]

using aligator::context::Manifold

Definition at line 14 of file context.hpp.

Scalar [2/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

ConstraintSet [1/2]

using aligator::context::ConstraintSet

Definition at line 22 of file context.hpp.

Scalar [3/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

ConstraintSet [2/2]

using aligator::context::ConstraintSet

Definition at line 22 of file context.hpp.

ConstraintStack

using aligator::context::ConstraintStack

Definition at line 37 of file context.hpp.

StageFunction [1/6]

using aligator::context::StageFunction

Definition at line 17 of file context.hpp.

CostAbstract [1/4]

using aligator::context::CostAbstract

Definition at line 26 of file context.hpp.

CostData [1/3]

using aligator::context::CostData

Definition at line 27 of file context.hpp.

Manifold [2/7]

using aligator::context::Manifold

Definition at line 14 of file context.hpp.

Scalar [4/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

DynamicsModel [1/6]

using aligator::context::DynamicsModel

Definition at line 28 of file context.hpp.

Scalar [5/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

StageFunction [2/6]

using aligator::context::StageFunction

Definition at line 17 of file context.hpp.

StageFunctionData [1/4]

using aligator::context::StageFunctionData

Definition at line 19 of file context.hpp.

UnaryFunction [1/4]

using aligator::context::UnaryFunction

Definition at line 18 of file context.hpp.

Manifold [3/7]

using aligator::context::Manifold

Definition at line 14 of file context.hpp.

Scalar [6/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

VectorSpace [1/2]

using aligator::context::VectorSpace

Definition at line 15 of file context.hpp.

Scalar [7/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Scalar [8/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

StageFunction [3/6]

using aligator::context::StageFunction

Definition at line 17 of file context.hpp.

StageFunctionData [2/4]

using aligator::context::StageFunctionData

Definition at line 19 of file context.hpp.

UnaryFunction [2/4]

using aligator::context::UnaryFunction

Definition at line 18 of file context.hpp.

Scalar [9/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Scalar [10/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Scalar [11/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Scalar [12/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Scalar [13/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Scalar [14/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

StageFunction [4/6]

using aligator::context::StageFunction

Definition at line 17 of file context.hpp.

StageFunctionData [3/4]

using aligator::context::StageFunctionData

Definition at line 19 of file context.hpp.

UnaryFunction [3/4]

using aligator::context::UnaryFunction

Definition at line 18 of file context.hpp.

CostAbstract [2/4]

using aligator::context::CostAbstract

Definition at line 26 of file context.hpp.

CostData [2/3]

using aligator::context::CostData

Definition at line 27 of file context.hpp.

Manifold [4/7]

using aligator::context::Manifold

Definition at line 14 of file context.hpp.

Scalar [15/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

StageFunction [5/6]

using aligator::context::StageFunction

Definition at line 17 of file context.hpp.

Scalar [16/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

ContinuousDynamicsAbstract [1/2]

using aligator::context::ContinuousDynamicsAbstract

Definition at line 9 of file context.hpp.

ContinuousDynamicsData

using aligator::context::ContinuousDynamicsData

Definition at line 12 of file context.hpp.

CostAbstract [3/4]

using aligator::context::CostAbstract

Definition at line 26 of file context.hpp.

Manifold [5/7]

using aligator::context::Manifold

Definition at line 14 of file context.hpp.

Scalar [17/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

CostAbstract [4/4]

using aligator::context::CostAbstract

Definition at line 26 of file context.hpp.

CostData [3/3]

using aligator::context::CostData

Definition at line 27 of file context.hpp.

Manifold [6/7]

using aligator::context::Manifold

Definition at line 14 of file context.hpp.

Scalar [18/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Scalar [19/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

DynamicsModel [2/6]

using aligator::context::DynamicsModel

Definition at line 28 of file context.hpp.

ExplicitDynamics [1/3]

using aligator::context::ExplicitDynamics

Definition at line 39 of file context.hpp.

DynamicsData [2/4]

using aligator::context::DynamicsData

Definition at line 29 of file context.hpp.

DynamicsModel [3/6]

using aligator::context::DynamicsModel

Definition at line 28 of file context.hpp.

DynamicsData [3/4]

using aligator::context::DynamicsData

Definition at line 29 of file context.hpp.

DynamicsModel [4/6]

using aligator::context::DynamicsModel

Definition at line 28 of file context.hpp.

ExplicitDynamics [2/3]

using aligator::context::ExplicitDynamics

Definition at line 39 of file context.hpp.

ExplicitDynamicsData [1/2]

using aligator::context::ExplicitDynamicsData

Definition at line 40 of file context.hpp.

Scalar [20/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Scalar [21/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

DynamicsModel [5/6]

using aligator::context::DynamicsModel

Definition at line 28 of file context.hpp.

ExplicitDynamics [3/3]

using aligator::context::ExplicitDynamics

Definition at line 39 of file context.hpp.

ExplicitDynamicsData [2/2]

using aligator::context::ExplicitDynamicsData

Definition at line 40 of file context.hpp.

ExplicitIntegratorAbstract

using aligator::context::ExplicitIntegratorAbstract

Definition at line 22 of file context.hpp.

ExplicitIntegratorData

using aligator::context::ExplicitIntegratorData

Definition at line 25 of file context.hpp.

IntegratorAbstract [1/2]

using aligator::context::IntegratorAbstract

Definition at line 18 of file context.hpp.

Scalar [22/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

StageFunction [6/6]

using aligator::context::StageFunction

Definition at line 17 of file context.hpp.

StageFunctionData [4/4]

using aligator::context::StageFunctionData

Definition at line 19 of file context.hpp.

UnaryFunction [4/4]

using aligator::context::UnaryFunction

Definition at line 18 of file context.hpp.

Scalar [23/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

DynamicsData [4/4]

using aligator::context::DynamicsData

Definition at line 29 of file context.hpp.

DynamicsModel [6/6]

using aligator::context::DynamicsModel

Definition at line 28 of file context.hpp.

IntegratorAbstract [2/2]

using aligator::context::IntegratorAbstract

Definition at line 18 of file context.hpp.

ContinuousDynamicsAbstract [2/2]

using aligator::context::ContinuousDynamicsAbstract

Definition at line 9 of file context.hpp.

ODEAbstract

using aligator::context::ODEAbstract

Definition at line 14 of file context.hpp.

ODEData

using aligator::context::ODEData

Definition at line 16 of file context.hpp.

Scalar [24/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

VectorSpace [2/2]

using aligator::context::VectorSpace

Definition at line 15 of file context.hpp.

Manifold [7/7]

using aligator::context::Manifold

Definition at line 14 of file context.hpp.

Scalar [25/25]

using aligator::context::Scalar

Definition at line 9 of file context.hpp.

Function Documentation

make_getter_eigen_matrix()

template<class C, class MatrixType>

bp::object aligator::python::make_getter_eigen_matrix

(

MatrixType C::*

v

)

Create a getter for Eigen::Matrix type objects which returns an Eigen::Ref.

See also

boost/python/data_member.hpp (make_getter(D C::*pm, ...))

Definition at line 46 of file eigen-member.hpp.

make_setter_eigen_matrix() [1/2]

template<class C, class MatrixType, class Policies>

bp::object aligator::python::make_setter_eigen_matrix	(	MatrixType C::*	v,
		Policies const &	policies )

Definition at line 56 of file eigen-member.hpp.

make_setter_eigen_matrix() [2/2]

template<class C, class MatrixType>

bp::object aligator::python::make_setter_eigen_matrix

(

MatrixType C::*

v

)

Definition at line 65 of file eigen-member.hpp.

operator""_a()

bp::arg aligator::python::operator""_a ( const char * argname, std::size_t  )

inline

User-defined literal for defining boost::python::arg.

Definition at line 25 of file fwd.hpp.

exposeGAR()

void aligator::python::exposeGAR

(

)

Expose GAR module.

Definition at line 55 of file expose-gar.cpp.

exposeFunctions()

void aligator::python::exposeFunctions

(

)

Expose stagewise function classes.

Definition at line 119 of file expose-functions.cpp.

exposeCosts()

void aligator::python::exposeCosts

(

)

Expose cost functions.

Definition at line 138 of file expose-costs.cpp.

exposeConstraint()

void aligator::python::exposeConstraint

(

)

Expose constraints.

Definition at line 24 of file expose-constraint.cpp.

exposeStage()

void aligator::python::exposeStage

(

)

Expose StageModel and StageData.

Definition at line 30 of file expose-stage.cpp.

exposeProblem()

void aligator::python::exposeProblem

(

)

Expose TrajOptProblem.

Definition at line 11 of file expose-problem.cpp.

exposeDynamics()

void aligator::python::exposeDynamics

(

)

Expose discrete dynamics.

Definition at line 16 of file expose-dynamics.cpp.

exposeContinuousDynamics()

void aligator::python::exposeContinuousDynamics

(

)

Expose continuous dynamics.

Definition at line 26 of file expose-continuous-dynamics.cpp.

exposeIntegrators()

void aligator::python::exposeIntegrators

(

)

Expose numerical integrators.

Definition at line 18 of file expose-integrators.cpp.

exposeSolvers()

void aligator::python::exposeSolvers

(

)

Expose solvers.

Definition at line 55 of file expose-solvers-base.cpp.

exposeCallbacks()

void aligator::python::exposeCallbacks

(

)

Expose solver callbacks.

Definition at line 44 of file expose-callbacks.cpp.

exposeAutodiff()

void aligator::python::exposeAutodiff

(

)

Expose autodiff helpers.

Expose finite difference helpers.

Definition at line 10 of file expose-autodiff.cpp.

exposeUtils()

void aligator::python::exposeUtils

(

)

Expose utils.

Definition at line 7 of file expose-utils.cpp.

exposeFilter()

void aligator::python::exposeFilter

(

)

Expose filter strategy.

Definition at line 11 of file expose-filter.cpp.

register_polymorphic_to_python()

template<class Poly>

void aligator::python::register_polymorphic_to_python ( )

inline

Expose a polymorphic value type, e.g. xyz::polymorphic<T, A>.

Just an alias for bp::register_ptr_to_python<>().

Definition at line 23 of file polymorphic.hpp.

get_scope_name()

std::string aligator::python::get_scope_name ( bp::scope scope )

inline

Definition at line 12 of file utils.hpp.

get_namespace()

bp::object aligator::python::get_namespace ( const std::string & name )

inline

Create or retrieve a Python scope (that is, a class or module namespace).

Returns

The submodule with the input name.

Definition at line 22 of file utils.hpp.

register_enum_symlink()

template<typename T>

bool aligator::python::register_enum_symlink

(

bool

export_values

)

Definition at line 30 of file utils.hpp.

exposeHistoryCallback()

void aligator::python::exposeHistoryCallback

(

)

Definition at line 20 of file expose-callbacks.cpp.

copy_vec_constref()

std::vector< VectorXs > aligator::python::copy_vec_constref

(

const std::vector< ConstVectorRef > &

x

)

Definition at line 14 of file expose-cartesian-product.cpp.

exposeCartesianProduct()

void aligator::python::exposeCartesianProduct

(

)

Definition at line 21 of file expose-cartesian-product.cpp.

exposeSpecificConstraintSet()

template<typename T>

auto aligator::python::exposeSpecificConstraintSet	(	const char *	name,
		const char *	docstring )

Definition at line 19 of file expose-constraint-set.cpp.

exposeConstraintSets()

void aligator::python::exposeConstraintSets

(

)

Definition at line 24 of file expose-constraint-set.cpp.

make_constraint_wrap()

context::StageConstraint * aligator::python::make_constraint_wrap	(	const PolyFunc &	f,
		const PolySet &	c )

Definition at line 17 of file expose-constraint.cpp.

exposeQuadCost()

void aligator::python::exposeQuadCost

(

)

Definition at line 29 of file expose-costs.cpp.

exposeComposites()

void aligator::python::exposeComposites

(

)

Composite cost functions.

Definition at line 22 of file expose-composite-costs.cpp.

exposeContactMap()

void aligator::python::exposeContactMap

(

)

Centroidal cost functions.

Definition at line 25 of file expose-centroidal.cpp.

exposeCentroidalFunctions()

void aligator::python::exposeCentroidalFunctions

(

)

Definition at line 46 of file expose-centroidal.cpp.

exposeCostStack()

void aligator::python::exposeCostStack

(

)

fwd-declare exposeCostStack()

Definition at line 25 of file expose-cost-stack.cpp.

exposeCostAbstract()

void aligator::python::exposeCostAbstract

(

)

Definition at line 79 of file expose-costs.cpp.

exposeCostOps()

void aligator::python::exposeCostOps

(

)

Definition at line 15 of file expose-cost-ops.cpp.

exposeFunctionBase()

void aligator::python::exposeFunctionBase

(

)

Definition at line 33 of file expose-functions.cpp.

exposeUnaryFunctions()

void aligator::python::exposeUnaryFunctions

(

)

Expose the UnaryFunction type and its member function overloads.

Definition at line 17 of file expose-unary-functions.cpp.

exposeFunctionExpressions()

void aligator::python::exposeFunctionExpressions

(

)

FUNCTION LINEAR COMPOSE

Definition at line 70 of file expose-function-ops.cpp.

exposeManifolds()

void aligator::python::exposeManifolds

(

)

Expose manifolds.

Definition at line 24 of file expose-manifold.cpp.

exposeFDDP()

void aligator::python::exposeFDDP

(

)

Definition at line 16 of file expose-solver-fddp.cpp.

exposeLinesearch()

static void aligator::python::exposeLinesearch ( )

static

Definition at line 19 of file expose-solver-prox.cpp.

exposeProxDDP()

void aligator::python::exposeProxDDP

(

)

Definition at line 58 of file expose-solver-prox.cpp.

exposeSolverCommon()

void aligator::python::exposeSolverCommon

(

)

Expose base solver elements.

Definition at line 16 of file expose-solvers-base.cpp.

exposeStageData()

void aligator::python::exposeStageData

(

)

Definition at line 15 of file expose-stage.cpp.

exposeDenseSolver()

void aligator::python::exposeDenseSolver

(

)

Definition at line 13 of file expose-dense.cpp.

exposeBlockMatrices()

static void aligator::python::exposeBlockMatrices ( )

static

Definition at line 26 of file expose-gar.cpp.

exposeParallelSolver()

void aligator::python::exposeParallelSolver

(

)

Definition at line 16 of file expose-parallel.cpp.

exposeProxRiccati()

void aligator::python::exposeProxRiccati

(

)

Definition at line 14 of file expose-prox-riccati.cpp.

exposeGarUtils()

void aligator::python::exposeGarUtils

(

)

Definition at line 33 of file expose-utils.cpp.

lqr_sol_initialize_wrap()

bp::dict aligator::python::lqr_sol_initialize_wrap

(

const lqr_t &

problem

)

Definition at line 13 of file expose-utils.cpp.

lqr_create_sparse_wrap()

bp::tuple aligator::python::lqr_create_sparse_wrap	(	const lqr_t &	problem,
		const Scalar	mudyn,
		const Scalar	mueq,
		bool	update )

Definition at line 24 of file expose-utils.cpp.

exposeConstrainedFwdDynamics()

void aligator::python::exposeConstrainedFwdDynamics

(

)

Definition at line 25 of file expose-constrained-fwd.cpp.

exposeODEs()

void aligator::python::exposeODEs

(

)

Definition at line 28 of file expose-ode.cpp.

exposeExplicitDynDirectSum()

void aligator::python::exposeExplicitDynDirectSum

(

)

Definition at line 16 of file expose-direct-sum.cpp.

exposeDynamicsBase()

void aligator::python::exposeDynamicsBase

(

)

Definition at line 25 of file expose-dynamics.cpp.

exposeExplicitDynamics()

void aligator::python::exposeExplicitDynamics

(

)

Definition at line 28 of file expose-explicit-dynamics.cpp.

exposeExplicitBase()

void aligator::python::exposeExplicitBase

(

)

Definition at line 39 of file expose-explicit-dynamics.cpp.

exposeLinearDiscreteDynamics()

void aligator::python::exposeLinearDiscreteDynamics

(

)

Definition at line 79 of file expose-explicit-dynamics.cpp.

exposeExplicitIntegrators()

void aligator::python::exposeExplicitIntegrators

(

)

Definition at line 24 of file expose-explicit-integrators.cpp.

exposeSliceExpression()

template<typename Base>

void aligator::python::exposeSliceExpression

(

const char *

name

)

Definition at line 22 of file expose-function-ops.cpp.

exposeLieGroup()

template<typename LieGroup>

void aligator::python::exposeLieGroup	(	const char *	name,
		const char *	docstring )

Expose a Pinocchio Lie group with a specified name, docstring, and no-arg default constructor.

Definition at line 15 of file expose-pinocchio-manifolds.cpp.

exposeTangentBundle() [1/2]

template<typename M>

bp::class_< TangentBundleTpl< M >, bp::bases< Manifold > > aligator::python::exposeTangentBundle	(	const char *	name,
		const char *	docstring )

Expose the tangent bundle of a manifold type M.

Definition at line 25 of file expose-pinocchio-manifolds.cpp.

exposeTangentBundle() [2/2]

template<typename M, class Init>

bp::class_< TangentBundleTpl< M >, bp::bases< Manifold > > aligator::python::exposeTangentBundle	(	const char *	name,
		const char *	docstring,
		Init	init )

Expose the tangent bundle with an additional constructor.

Definition at line 39 of file expose-pinocchio-manifolds.cpp.

exposePinocchioSpaces()

void aligator::python::exposePinocchioSpaces

(

)

Definition at line 43 of file expose-pinocchio-manifolds.cpp.

exposeEnums()

static void aligator::python::exposeEnums ( )

static

Definition at line 18 of file module.cpp.

exposeContainers()

static void aligator::python::exposeContainers ( )

static

Definition at line 61 of file module.cpp.

Variable Documentation

poly_visitor

PolymorphicVisitor<PolyCost> aligator::python::poly_visitor

Definition at line 27 of file expose-costs.cpp.

func_visitor

const PolymorphicMultiBaseVisitor< StageFunction > aligator::python::func_visitor

Definition at line 26 of file expose-functions.cpp.

exp_dynamics_visitor

PolymorphicMultiBaseVisitor<DynamicsModel, ExplicitDynamics> aligator::python::exp_dynamics_visitor

Definition at line 18 of file expose-explicit-dynamics.cpp.

unary_visitor

const PolymorphicMultiBaseVisitor<UnaryFunction, StageFunction> aligator::python::unary_visitor

Definition at line 20 of file expose-function-ops.cpp.