aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Results holder struct. More...
#include <aligator/solvers/proxddp/results.hpp>
Public Types | |
using | Scalar = _Scalar |
using | Base = ResultsBaseTpl<Scalar> |
Public Types inherited from aligator::ResultsBaseTpl< _Scalar > | |
using | Scalar = _Scalar |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
ResultsTpl () | |
ResultsTpl (const ResultsTpl &)=delete | |
ResultsTpl & | operator= (const ResultsTpl &)=delete |
ResultsTpl (ResultsTpl &&)=default | |
ResultsTpl & | operator= (ResultsTpl &&)=default |
ResultsTpl (const TrajOptProblemTpl< Scalar > &problem) | |
Create the results struct from a problem (TrajOptProblemTpl) instance. | |
Public Member Functions inherited from aligator::ResultsBaseTpl< _Scalar > | |
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::vector< VectorXs > | lams |
Problem co-states. | |
std::vector< VectorXs > | vs |
Path constraint multipliers. | |
std::size_t | al_iter = 0 |
Proximal/AL iteration count. | |
Public Attributes inherited from aligator::ResultsBaseTpl< _Scalar > | |
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. | |
Additional Inherited Members | |
Protected Attributes inherited from aligator::ResultsBaseTpl< _Scalar > | |
bool | m_isInitialized |
Results holder struct.
Definition at line 10 of file results.hpp.
using aligator::ResultsTpl< _Scalar >::Scalar = _Scalar |
Definition at line 11 of file results.hpp.
using aligator::ResultsTpl< _Scalar >::Base = ResultsBaseTpl<Scalar> |
Definition at line 13 of file results.hpp.
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inline |
Definition at line 27 of file results.hpp.
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delete |
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default |
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explicit |
Create the results struct from a problem (TrajOptProblemTpl) instance.
aligator::ResultsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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delete |
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default |
std::vector<VectorXs> aligator::ResultsTpl< _Scalar >::lams |
Problem co-states.
Definition at line 21 of file results.hpp.
std::vector<VectorXs> aligator::ResultsTpl< _Scalar >::vs |
Path constraint multipliers.
Definition at line 23 of file results.hpp.
std::size_t aligator::ResultsTpl< _Scalar >::al_iter = 0 |
Proximal/AL iteration count.
Definition at line 25 of file results.hpp.