aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Common utilities for all solvers. More...
#include "aligator/core/traj-opt-problem.hpp"
Go to the source code of this file.
Namespaces | |
namespace | aligator |
Main package namespace. | |
Functions | |
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. | |
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. | |
template<typename Scalar > | |
auto | aligator::problemInitializeSolution (const TrajOptProblemTpl< Scalar > &problem) |
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. | |
Common utilities for all solvers.
Definition in file solver-util.hpp.