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aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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Compute the derivatives of the problem Lagrangian. More...
#include <aligator/core/lagrangian.hpp>
Public Types | |
| using | TrajOptProblem = TrajOptProblemTpl<Scalar> |
| using | TrajOptData = TrajOptDataTpl<Scalar> |
| using | BlkView = BlkMatrix<ConstVectorRef, -1, 1> |
Public Member Functions | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
Static Public Member Functions | |
| static void | compute (const TrajOptProblem &problem, const TrajOptData &pd, const std::vector< VectorXs > &lams, const std::vector< VectorXs > &vs, std::vector< VectorXs > &Lxs, std::vector< VectorXs > &Lus) |
Compute the derivatives of the problem Lagrangian.
Definition at line 14 of file lagrangian.hpp.
| using aligator::LagrangianDerivatives< Scalar >::TrajOptProblem = TrajOptProblemTpl<Scalar> |
Definition at line 16 of file lagrangian.hpp.
| using aligator::LagrangianDerivatives< Scalar >::TrajOptData = TrajOptDataTpl<Scalar> |
Definition at line 17 of file lagrangian.hpp.
| using aligator::LagrangianDerivatives< Scalar >::BlkView = BlkMatrix<ConstVectorRef, -1, 1> |
Definition at line 18 of file lagrangian.hpp.
| aligator::LagrangianDerivatives< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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The lams parameter can be an empty vector. In this case, the contribution of dynamical constraints will be ignored.
Definition at line 29 of file lagrangian.hpp.