aligator::ResultsBaseTpl< _Scalar > Struct Template Reference

#include <aligator/core/results-base.hpp>

Inheritance diagram for aligator::ResultsBaseTpl< _Scalar >:

Collaboration diagram for aligator::ResultsBaseTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ResultsBaseTpl ()
bool	isInitialized () const
decltype(auto)	getFeedforward (std::size_t i)
	Get column expression of the primal-dual feedforward gain.
decltype(auto)	getFeedforward (std::size_t i) const
	Get column expression of the primal-dual feedforward gain.
decltype(auto)	getFeedback (std::size_t i)
	Get expression of the primal-dual feedback gains.
decltype(auto)	getFeedback (std::size_t i) const
	Get expression of the primal-dual feedback gains.
std::vector< MatrixXs >	getCtrlFeedbacks () const
std::vector< VectorXs >	getCtrlFeedforwards () const
void	printBase (std::ostream &oss) const

Public Attributes
std::size_t	num_iters = 0
bool	conv = false
Scalar	traj_cost_ = 0.
Scalar	merit_value_ = 0.
Scalar	prim_infeas = 0.
	Overall primal infeasibility measure/constraint violation.
Scalar	dual_infeas = 0.
	Overall dual infeasibility measure.
std::vector< MatrixXs >	gains_
	Riccati gains.
std::vector< VectorXs >	xs
	States.
std::vector< VectorXs >	us
	Controls.

Protected Attributes
bool	m_isInitialized

Detailed Description

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

Definition at line 9 of file results-base.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

using aligator::ResultsBaseTpl< _Scalar >::Scalar = _Scalar

Definition at line 10 of file results-base.hpp.

Constructor & Destructor Documentation

ResultsBaseTpl()

template<typename _Scalar >

aligator::ResultsBaseTpl< _Scalar >::ResultsBaseTpl ( )

inline

Definition at line 35 of file results-base.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::ResultsBaseTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

isInitialized()

template<typename _Scalar >

bool aligator::ResultsBaseTpl< _Scalar >::isInitialized ( ) const

inline

Definition at line 36 of file results-base.hpp.

getFeedforward() [1/2]

template<typename _Scalar >

decltype(auto) aligator::ResultsBaseTpl< _Scalar >::getFeedforward ( std::size_t i )

inline

Get column expression of the primal-dual feedforward gain.

Definition at line 39 of file results-base.hpp.

getFeedforward() [2/2]

template<typename _Scalar >

decltype(auto) aligator::ResultsBaseTpl< _Scalar >::getFeedforward ( std::size_t i ) const

inline

Get column expression of the primal-dual feedforward gain.

Definition at line 44 of file results-base.hpp.

getFeedback() [1/2]

template<typename _Scalar >

decltype(auto) aligator::ResultsBaseTpl< _Scalar >::getFeedback ( std::size_t i )

inline

Get expression of the primal-dual feedback gains.

Definition at line 49 of file results-base.hpp.

getFeedback() [2/2]

template<typename _Scalar >

decltype(auto) aligator::ResultsBaseTpl< _Scalar >::getFeedback ( std::size_t i ) const

inline

Get expression of the primal-dual feedback gains.

Definition at line 54 of file results-base.hpp.

getCtrlFeedbacks()

template<typename _Scalar >

std::vector< MatrixXs > aligator::ResultsBaseTpl< _Scalar >::getCtrlFeedbacks ( ) const

inline

Definition at line 58 of file results-base.hpp.

getCtrlFeedforwards()

template<typename _Scalar >

std::vector< VectorXs > aligator::ResultsBaseTpl< _Scalar >::getCtrlFeedforwards ( ) const

inline

Definition at line 68 of file results-base.hpp.

printBase()

template<typename Scalar >

void aligator::ResultsBaseTpl< Scalar >::printBase

(

std::ostream &

oss

)

const

Definition at line 87 of file results-base.hpp.

Member Data Documentation

m_isInitialized

template<typename _Scalar >

bool aligator::ResultsBaseTpl< _Scalar >::m_isInitialized

protected

Definition at line 15 of file results-base.hpp.

num_iters

template<typename _Scalar >

std::size_t aligator::ResultsBaseTpl< _Scalar >::num_iters = 0

Definition at line 18 of file results-base.hpp.

conv

template<typename _Scalar >

bool aligator::ResultsBaseTpl< _Scalar >::conv = false

Definition at line 19 of file results-base.hpp.

traj_cost_

template<typename _Scalar >

Scalar aligator::ResultsBaseTpl< _Scalar >::traj_cost_ = 0.

Definition at line 21 of file results-base.hpp.

merit_value_

template<typename _Scalar >

Scalar aligator::ResultsBaseTpl< _Scalar >::merit_value_ = 0.

Definition at line 22 of file results-base.hpp.

prim_infeas

template<typename _Scalar >

Scalar aligator::ResultsBaseTpl< _Scalar >::prim_infeas = 0.

Overall primal infeasibility measure/constraint violation.

Definition at line 24 of file results-base.hpp.

dual_infeas

template<typename _Scalar >

Scalar aligator::ResultsBaseTpl< _Scalar >::dual_infeas = 0.

Overall dual infeasibility measure.

Definition at line 26 of file results-base.hpp.

gains_

template<typename _Scalar >

std::vector<MatrixXs> aligator::ResultsBaseTpl< _Scalar >::gains_

Riccati gains.

Definition at line 29 of file results-base.hpp.

xs

template<typename _Scalar >

std::vector<VectorXs> aligator::ResultsBaseTpl< _Scalar >::xs

States.

Definition at line 31 of file results-base.hpp.

us

template<typename _Scalar >

std::vector<VectorXs> aligator::ResultsBaseTpl< _Scalar >::us

Controls.

Definition at line 33 of file results-base.hpp.

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

• include/aligator/core/results-base.hpp