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aligator::ResultsTpl< _Scalar > Struct Template Reference
Results holder struct. More...
#include <aligator/solvers/proxddp/results.hpp>
Inheritance diagram for aligator::ResultsTpl< _Scalar >:
Collaboration diagram for aligator::ResultsTpl< _Scalar >:
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 &)=default | |
| ResultsTpl & | operator= (const ResultsTpl &)=default |
| ResultsTpl (ResultsTpl &&)=default | |
| ResultsTpl & | operator= (ResultsTpl &&)=default |
| ResultsTpl (const TrajOptProblemTpl< Scalar > &problem) | |
| Create the results struct from a problem (TrajOptProblemTpl) instance. | |
| void | cycleAppend (const TrajOptProblemTpl< Scalar > &problem, const ConstVectorRef &x0) |
| 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 |
| std::string | printBase () const |
| virtual | ~ResultsBaseTpl ()=default |
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. | |
| bool | conv |
| std::vector< MatrixXs > | gains_ |
| Riccati gains. | |
| std::size_t | num_iters |
| std::vector< VectorXs > | us |
| Controls. | |
| std::vector< VectorXs > | xs |
| States. | |
| 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 |
Detailed Description
template<typename _Scalar>
struct aligator::ResultsTpl< _Scalar >
struct aligator::ResultsTpl< _Scalar >
Results holder struct.
Definition at line 11 of file results.hpp.
Member Typedef Documentation
◆ Scalar
template<typename _Scalar>
| using aligator::ResultsTpl< _Scalar >::Scalar = _Scalar |
Definition at line 12 of file results.hpp.
◆ Base
template<typename _Scalar>
| using aligator::ResultsTpl< _Scalar >::Base = ResultsBaseTpl<Scalar> |
Definition at line 14 of file results.hpp.
Constructor & Destructor Documentation
◆ ResultsTpl() [1/4]
template<typename _Scalar>
|
inlineexplicit |
Definition at line 28 of file results.hpp.
◆ ResultsTpl() [2/4]
template<typename _Scalar>
|
default |
◆ ResultsTpl() [3/4]
template<typename _Scalar>
|
default |
◆ ResultsTpl() [4/4]
template<typename _Scalar>
|
explicit |
Create the results struct from a problem (TrajOptProblemTpl) instance.
Member Function Documentation
◆ ALIGATOR_DYNAMIC_TYPEDEFS()
template<typename _Scalar>
| aligator::ResultsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
◆ operator=() [1/2]
template<typename _Scalar>
|
default |
◆ operator=() [2/2]
template<typename _Scalar>
|
default |
◆ cycleAppend()
template<typename _Scalar>
| void aligator::ResultsTpl< _Scalar >::cycleAppend | ( | const TrajOptProblemTpl< Scalar > & | problem, |
| const ConstVectorRef & | x0 ) |
Member Data Documentation
◆ lams
template<typename _Scalar>
| std::vector<VectorXs> aligator::ResultsTpl< _Scalar >::lams |
Problem co-states.
Definition at line 22 of file results.hpp.
◆ vs
template<typename _Scalar>
| std::vector<VectorXs> aligator::ResultsTpl< _Scalar >::vs |
Path constraint multipliers.
Definition at line 24 of file results.hpp.
◆ al_iter
template<typename _Scalar>
| std::size_t aligator::ResultsTpl< _Scalar >::al_iter = 0 |
Proximal/AL iteration count.
Definition at line 26 of file results.hpp.
◆ conv
template<typename _Scalar>
| bool aligator::ResultsBaseTpl< Scalar >::conv |
Definition at line 19 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.
◆ num_iters
template<typename _Scalar>
| std::size_t aligator::ResultsBaseTpl< Scalar >::num_iters |
Definition at line 18 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.
◆ xs
template<typename _Scalar>
| std::vector<VectorXs> aligator::ResultsBaseTpl< Scalar >::xs |
States.
Definition at line 31 of file results-base.hpp.
The documentation for this struct was generated from the following files:
- include/aligator/fwd.hpp
- include/aligator/solvers/proxddp/results.hpp
