aligator::LagrangianDerivatives< Scalar > Struct Template Reference

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)

Detailed Description

template<typename Scalar>
struct aligator::LagrangianDerivatives< Scalar >

Compute the derivatives of the problem Lagrangian.

Definition at line 14 of file lagrangian.hpp.

Member Typedef Documentation

TrajOptProblem

template<typename Scalar>

using aligator::LagrangianDerivatives< Scalar >::TrajOptProblem = TrajOptProblemTpl<Scalar>

Definition at line 16 of file lagrangian.hpp.

TrajOptData

template<typename Scalar>

using aligator::LagrangianDerivatives< Scalar >::TrajOptData = TrajOptDataTpl<Scalar>

Definition at line 17 of file lagrangian.hpp.

BlkView

template<typename Scalar>

using aligator::LagrangianDerivatives< Scalar >::BlkView = BlkMatrix<ConstVectorRef, -1, 1>

Definition at line 18 of file lagrangian.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

aligator::LagrangianDerivatives< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

compute()

template<typename Scalar>

void aligator::LagrangianDerivatives< Scalar >::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 )

static

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.

---

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

• include/aligator/core/lagrangian.hpp