Workspace for solver SolverFDDP. More...
#include <aligator/solvers/fddp/workspace.hpp>
Public Types | |
| using | VParams = ValueFunctionTpl<Scalar> |
| using | QParams = QFunctionTpl<Scalar> |
| using | Base = WorkspaceBaseTpl<Scalar> |
| using | RowMatrixXs = Eigen::Matrix<Scalar, -1, -1, Eigen::RowMajor> |
| Temporary storage for jacobian transpose-Q-hessian product. | |
Public Member Functions | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| WorkspaceFDDPTpl () | |
| WorkspaceFDDPTpl (const TrajOptProblemTpl< Scalar > &problem) | |
| void | cycleLeft () |
 Public Member Functions inherited from aligator::WorkspaceBaseTpl< Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| WorkspaceBaseTpl () | |
| WorkspaceBaseTpl (const TrajOptProblemTpl< Scalar > &problem) | |
| ~WorkspaceBaseTpl ()=default | |
| bool | isInitialized () const |
| void | cycleLeft () |
| Cycle the workspace data to the left. | |
| void | cycleAppend (shared_ptr< StageDataTpl< Scalar > > data) |
| Same as cycleLeft(), but add a StageDataTpl to problem_data. | |
Public Attributes | |
| std::vector< VectorXs > | dxs |
| State increment. | |
| std::vector< VectorXs > | dus |
| Control increment. | |
| std::vector< VectorXs > | Quuks_ |
| Storage for the product \(Q_{uu}k\). | |
| std::vector< VectorXs > | ftVxx_ |
| std::vector< MatrixXs > | kktRhs |
| Buffer for KKT system right-hand sides. | |
| std::vector< Eigen::LLT< MatrixXs > > | llts_ |
| LLT struct for each KKT system. | |
| std::vector< VParams > | value_params |
| Value function parameter storage. | |
| std::vector< QParams > | q_params |
| Q-function storage. | |
| std::vector< RowMatrixXs > | JtH_temp_ |
| Scalar | dg_ = 0. |
| Scalar | dq_ = 0. |
| Scalar | dv_ = 0. |
| Scalar | d1_ = 0. |
| Scalar | d2_ = 0. |
| std::size_t | nsteps |
| Number of steps in the problem. | |
| std::vector< VectorXs > | trial_us |
| std::vector< VectorXs > | trial_xs |
| Public Attributes inherited from aligator::WorkspaceBaseTpl< Scalar > | |
| std::size_t | nsteps |
| Number of steps in the problem. | |
| TrajOptDataTpl< Scalar > | problem_data |
| Problem data. | |
| std::vector< VectorXs > | dyn_slacks |
| Dynamical infeasibility gaps. | |
| std::vector< VectorXs > | trial_xs |
| std::vector< VectorXs > | trial_us |
Additional Inherited Members | |
| Protected Attributes inherited from aligator::WorkspaceBaseTpl< Scalar > | |
| bool | m_isInitialized |
Detailed Description
struct aligator::WorkspaceFDDPTpl< Scalar >
Workspace for solver SolverFDDP.
Definition at line 10 of file workspace.hpp.
Member Typedef Documentation
◆ VParams
| using aligator::WorkspaceFDDPTpl< Scalar >::VParams = ValueFunctionTpl<Scalar> |
Definition at line 11 of file workspace.hpp.
◆ QParams
| using aligator::WorkspaceFDDPTpl< Scalar >::QParams = QFunctionTpl<Scalar> |
Definition at line 12 of file workspace.hpp.
◆ Base
| using aligator::WorkspaceFDDPTpl< Scalar >::Base = WorkspaceBaseTpl<Scalar> |
Definition at line 13 of file workspace.hpp.
◆ RowMatrixXs
| using aligator::WorkspaceFDDPTpl< Scalar >::RowMatrixXs = Eigen::Matrix<Scalar, -1, -1, Eigen::RowMajor> |
Temporary storage for jacobian transpose-Q-hessian product.
Definition at line 36 of file workspace.hpp.
Constructor & Destructor Documentation
◆ WorkspaceFDDPTpl() [1/2]
|
inline |
Definition at line 45 of file workspace.hpp.
◆ WorkspaceFDDPTpl() [2/2]
|
explicit |
Member Function Documentation
◆ ALIGATOR_DYNAMIC_TYPEDEFS()
| aligator::WorkspaceFDDPTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
◆ cycleLeft()
| void aligator::WorkspaceFDDPTpl< Scalar >::cycleLeft | ( | ) |
Member Data Documentation
◆ dxs
| std::vector<VectorXs> aligator::WorkspaceFDDPTpl< Scalar >::dxs |
State increment.
Definition at line 20 of file workspace.hpp.
◆ dus
| std::vector<VectorXs> aligator::WorkspaceFDDPTpl< Scalar >::dus |
Control increment.
Definition at line 22 of file workspace.hpp.
◆ Quuks_
| std::vector<VectorXs> aligator::WorkspaceFDDPTpl< Scalar >::Quuks_ |
Storage for the product \(Q_{uu}k\).
Definition at line 24 of file workspace.hpp.
◆ ftVxx_
| std::vector<VectorXs> aligator::WorkspaceFDDPTpl< Scalar >::ftVxx_ |
Definition at line 25 of file workspace.hpp.
◆ kktRhs
| std::vector<MatrixXs> aligator::WorkspaceFDDPTpl< Scalar >::kktRhs |
Buffer for KKT system right-hand sides.
Definition at line 27 of file workspace.hpp.
◆ llts_
| std::vector<Eigen::LLT<MatrixXs> > aligator::WorkspaceFDDPTpl< Scalar >::llts_ |
LLT struct for each KKT system.
Definition at line 29 of file workspace.hpp.
◆ value_params
| std::vector<VParams> aligator::WorkspaceFDDPTpl< Scalar >::value_params |
Value function parameter storage.
Definition at line 31 of file workspace.hpp.
◆ q_params
| std::vector<QParams> aligator::WorkspaceFDDPTpl< Scalar >::q_params |
Q-function storage.
Definition at line 33 of file workspace.hpp.
◆ JtH_temp_
| std::vector<RowMatrixXs> aligator::WorkspaceFDDPTpl< Scalar >::JtH_temp_ |
Definition at line 37 of file workspace.hpp.
◆ dg_
| Scalar aligator::WorkspaceFDDPTpl< Scalar >::dg_ = 0. |
Definition at line 39 of file workspace.hpp.
◆ dq_
| Scalar aligator::WorkspaceFDDPTpl< Scalar >::dq_ = 0. |
Definition at line 40 of file workspace.hpp.
◆ dv_
| Scalar aligator::WorkspaceFDDPTpl< Scalar >::dv_ = 0. |
Definition at line 41 of file workspace.hpp.
◆ d1_
| Scalar aligator::WorkspaceFDDPTpl< Scalar >::d1_ = 0. |
Definition at line 42 of file workspace.hpp.
◆ d2_
| Scalar aligator::WorkspaceFDDPTpl< Scalar >::d2_ = 0. |
Definition at line 43 of file workspace.hpp.
◆ nsteps
| std::size_t aligator::WorkspaceBaseTpl< Scalar >::nsteps |
Number of steps in the problem.
Definition at line 21 of file workspace-base.hpp.
◆ trial_us
| std::vector<VectorXs> aligator::WorkspaceBaseTpl< Scalar >::trial_us |
Definition at line 28 of file workspace-base.hpp.
◆ trial_xs
| std::vector<VectorXs> aligator::WorkspaceBaseTpl< Scalar >::trial_xs |
Definition at line 27 of file workspace-base.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/solvers/fddp/workspace.hpp
