aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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riccati-base.hpp
Go to the documentation of this file.
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#pragma once
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#include "
aligator/math.hpp
"
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#include <optional>
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namespace
aligator
{
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namespace
gar {
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template
<
typename
_Scalar>
class
RiccatiSolverBase
{
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public
:
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using
Scalar
= _Scalar;
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ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES
(
Scalar
);
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virtual
bool
backward
(
const
Scalar
mudyn,
const
Scalar
mueq) = 0;
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virtual
bool
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forward
(std::vector<VectorXs> &xs, std::vector<VectorXs> &us,
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std::vector<VectorXs> &vs, std::vector<VectorXs> &lbdas,
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const
std::optional<ConstVectorRef> &theta_ = std::nullopt)
const
= 0;
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virtual
void
collapseFeedback
() {}
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virtual
VectorRef
getFeedforward
(
size_t
) = 0;
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virtual
RowMatrixRef
getFeedback
(
size_t
) = 0;
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virtual
~RiccatiSolverBase
() =
default
;
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};
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}
// namespace gar
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}
// namespace aligator
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#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
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#include "riccati-base.txx"
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#endif
aligator::gar::RiccatiSolverBase
Definition
riccati-base.hpp:12
aligator::gar::RiccatiSolverBase::getFeedback
virtual RowMatrixRef getFeedback(size_t)=0
aligator::gar::RiccatiSolverBase::getFeedforward
virtual VectorRef getFeedforward(size_t)=0
aligator::gar::RiccatiSolverBase::backward
virtual bool backward(const Scalar mudyn, const Scalar mueq)=0
aligator::gar::RiccatiSolverBase::~RiccatiSolverBase
virtual ~RiccatiSolverBase()=default
aligator::gar::RiccatiSolverBase::ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES
ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES(Scalar)
aligator::gar::RiccatiSolverBase::forward
virtual bool forward(std::vector< VectorXs > &xs, std::vector< VectorXs > &us, std::vector< VectorXs > &vs, std::vector< VectorXs > &lbdas, const std::optional< ConstVectorRef > &theta_=std::nullopt) const =0
aligator::gar::RiccatiSolverBase::collapseFeedback
virtual void collapseFeedback()
Definition
riccati-base.hpp:26
aligator::gar::RiccatiSolverBase::Scalar
_Scalar Scalar
Definition
riccati-base.hpp:14
math.hpp
Math utilities.
aligator
Main package namespace.
Definition
action-model-wrap.hpp:12
gar
include
aligator
gar
riccati-base.hpp
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