aligator  0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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aligator::DynamicsDataTpl< _Scalar > Struct Template Reference

#include <aligator/core/dynamics.hpp>

Inheritance diagram for aligator::DynamicsDataTpl< _Scalar >:
[legend]

Public Types

using Scalar = _Scalar
 

Public Member Functions

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
 DynamicsDataTpl (const DynamicsModelTpl< Scalar > &model)
 
 DynamicsDataTpl (const int ndx1, const int nu, const int ndx2)
 
virtual ~DynamicsDataTpl ()=default
 

Public Attributes

const int ndx1
 
const int nu
 
const int ndx2
 
const int nvar = ndx1 + nu + ndx2
 Total number of variables.
 
VectorXs value_
 Function value.
 
VectorRef valref_
 
MatrixXs jac_buffer_
 Full Jacobian.
 
MatrixRef Jx_
 Jacobian with respect to \(x\).
 
MatrixRef Ju_
 Jacobian with respect to \(u\).
 
MatrixRef Jy_
 Jacobian with respect to \(y\).
 
MatrixXs Hxx_
 
MatrixXs Hxu_
 
MatrixXs Hxy_
 
MatrixXs Huu_
 
MatrixXs Huy_
 
MatrixXs Hyy_
 

Detailed Description

template<typename _Scalar>
struct aligator::DynamicsDataTpl< _Scalar >

Definition at line 77 of file dynamics.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>
using aligator::DynamicsDataTpl< _Scalar >::Scalar = _Scalar

Definition at line 78 of file dynamics.hpp.

Constructor & Destructor Documentation

◆ DynamicsDataTpl() [1/2]

template<typename _Scalar>
aligator::DynamicsDataTpl< _Scalar >::DynamicsDataTpl ( const DynamicsModelTpl< Scalar > & model)
explicit

◆ DynamicsDataTpl() [2/2]

template<typename _Scalar>
aligator::DynamicsDataTpl< _Scalar >::DynamicsDataTpl ( const int ndx1,
const int nu,
const int ndx2 )

◆ ~DynamicsDataTpl()

template<typename _Scalar>
virtual aligator::DynamicsDataTpl< _Scalar >::~DynamicsDataTpl ( )
virtualdefault

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>
aligator::DynamicsDataTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

Member Data Documentation

◆ ndx1

template<typename _Scalar>
const int aligator::DynamicsDataTpl< _Scalar >::ndx1

Definition at line 81 of file dynamics.hpp.

◆ nu

template<typename _Scalar>
const int aligator::DynamicsDataTpl< _Scalar >::nu

Definition at line 82 of file dynamics.hpp.

◆ ndx2

template<typename _Scalar>
const int aligator::DynamicsDataTpl< _Scalar >::ndx2

Definition at line 83 of file dynamics.hpp.

◆ nvar

template<typename _Scalar>
const int aligator::DynamicsDataTpl< _Scalar >::nvar = ndx1 + nu + ndx2

Total number of variables.

Definition at line 85 of file dynamics.hpp.

◆ value_

template<typename _Scalar>
VectorXs aligator::DynamicsDataTpl< _Scalar >::value_

Function value.

Definition at line 88 of file dynamics.hpp.

◆ valref_

template<typename _Scalar>
VectorRef aligator::DynamicsDataTpl< _Scalar >::valref_

Definition at line 89 of file dynamics.hpp.

◆ jac_buffer_

template<typename _Scalar>
MatrixXs aligator::DynamicsDataTpl< _Scalar >::jac_buffer_

Full Jacobian.

Definition at line 91 of file dynamics.hpp.

◆ Jx_

template<typename _Scalar>
MatrixRef aligator::DynamicsDataTpl< _Scalar >::Jx_

Jacobian with respect to \(x\).

Definition at line 93 of file dynamics.hpp.

◆ Ju_

template<typename _Scalar>
MatrixRef aligator::DynamicsDataTpl< _Scalar >::Ju_

Jacobian with respect to \(u\).

Definition at line 95 of file dynamics.hpp.

◆ Jy_

template<typename _Scalar>
MatrixRef aligator::DynamicsDataTpl< _Scalar >::Jy_

Jacobian with respect to \(y\).

Definition at line 97 of file dynamics.hpp.

◆ Hxx_

template<typename _Scalar>
MatrixXs aligator::DynamicsDataTpl< _Scalar >::Hxx_

Definition at line 101 of file dynamics.hpp.

◆ Hxu_

template<typename _Scalar>
MatrixXs aligator::DynamicsDataTpl< _Scalar >::Hxu_

Definition at line 102 of file dynamics.hpp.

◆ Hxy_

template<typename _Scalar>
MatrixXs aligator::DynamicsDataTpl< _Scalar >::Hxy_

Definition at line 103 of file dynamics.hpp.

◆ Huu_

template<typename _Scalar>
MatrixXs aligator::DynamicsDataTpl< _Scalar >::Huu_

Definition at line 104 of file dynamics.hpp.

◆ Huy_

template<typename _Scalar>
MatrixXs aligator::DynamicsDataTpl< _Scalar >::Huy_

Definition at line 105 of file dynamics.hpp.

◆ Hyy_

template<typename _Scalar>
MatrixXs aligator::DynamicsDataTpl< _Scalar >::Hyy_

Definition at line 106 of file dynamics.hpp.


The documentation for this struct was generated from the following file: