aligator
0.10.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include <aligator/core/dynamics.hpp>
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_ |
using aligator::DynamicsDataTpl< Scalar >::Scalar = _Scalar |
Definition at line 78 of file dynamics.hpp.
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explicit |
aligator::DynamicsDataTpl< Scalar >::DynamicsDataTpl | ( | const int | ndx1, |
const int | nu, | ||
const int | ndx2 ) |
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virtualdefault |
aligator::DynamicsDataTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
const int aligator::DynamicsDataTpl< Scalar >::ndx1 |
Definition at line 81 of file dynamics.hpp.
const int aligator::DynamicsDataTpl< Scalar >::nu |
Definition at line 82 of file dynamics.hpp.
const int aligator::DynamicsDataTpl< Scalar >::ndx2 |
Definition at line 83 of file dynamics.hpp.
Total number of variables.
Definition at line 85 of file dynamics.hpp.
VectorXs aligator::DynamicsDataTpl< Scalar >::value_ |
Function value.
Definition at line 88 of file dynamics.hpp.
VectorRef aligator::DynamicsDataTpl< Scalar >::valref_ |
Definition at line 89 of file dynamics.hpp.
MatrixXs aligator::DynamicsDataTpl< Scalar >::jac_buffer_ |
Full Jacobian.
Definition at line 91 of file dynamics.hpp.
MatrixRef aligator::DynamicsDataTpl< Scalar >::Jx_ |
Jacobian with respect to \(x\).
Definition at line 93 of file dynamics.hpp.
MatrixRef aligator::DynamicsDataTpl< Scalar >::Ju_ |
Jacobian with respect to \(u\).
Definition at line 95 of file dynamics.hpp.
MatrixRef aligator::DynamicsDataTpl< Scalar >::Jy_ |
Jacobian with respect to \(y\).
Definition at line 97 of file dynamics.hpp.
MatrixXs aligator::DynamicsDataTpl< Scalar >::Hxx_ |
Definition at line 101 of file dynamics.hpp.
MatrixXs aligator::DynamicsDataTpl< Scalar >::Hxu_ |
Definition at line 102 of file dynamics.hpp.
MatrixXs aligator::DynamicsDataTpl< Scalar >::Hxy_ |
Definition at line 103 of file dynamics.hpp.
MatrixXs aligator::DynamicsDataTpl< Scalar >::Huu_ |
Definition at line 104 of file dynamics.hpp.
MatrixXs aligator::DynamicsDataTpl< Scalar >::Huy_ |
Definition at line 105 of file dynamics.hpp.
MatrixXs aligator::DynamicsDataTpl< Scalar >::Hyy_ |
Definition at line 106 of file dynamics.hpp.