Workspace for solver SolverProxDDP. More...

#include <aligator/solvers/proxddp/workspace.hpp>

Inheritance diagram for aligator::WorkspaceTpl< Scalar >:

Collaboration diagram for aligator::WorkspaceTpl< Scalar >:

Public Types
using	StageModel = StageModelTpl<Scalar>

using	Base = WorkspaceBaseTpl<Scalar>

using	VecBool = Eigen::Matrix<bool, Eigen::Dynamic, 1>

using	CstrProxScaler = ConstraintProximalScalerTpl<Scalar>

using	KnotType = gar::LQRKnotTpl<Scalar>

using	ConstraintSetProduct = ConstraintSetProductTpl<Scalar>

using	BlkJacobianType = BlkMatrix<MatrixXs, -1, 2>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	WorkspaceTpl ()

	WorkspaceTpl (const TrajOptProblemTpl< Scalar > &problem)

	WorkspaceTpl (const WorkspaceTpl &)=delete

WorkspaceTpl &	operator= (const WorkspaceTpl &)=delete

	WorkspaceTpl (WorkspaceTpl &&)=default

WorkspaceTpl &	operator= (WorkspaceTpl &&)=default

void	cycleLeft ()

template<typename F >
void	configureScalers (const TrajOptProblemTpl< Scalar > &problem, const Scalar &mu, F &&strat)

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
gar::LQRProblemTpl< Scalar >	lqr_problem

std::vector< CstrProxScaler >	cstr_scalers

std::vector< VectorXs >	shifted_constraints
	Shifted constraints the projection operators should be applied to.

std::vector< VectorXs >	cstr_lx_corr

std::vector< VectorXs >	cstr_lu_corr

std::vector< BlkJacobianType >	cstr_proj_jacs
	Projected path constraint Jacobians (used to symmetrize the LQ subproblem)

std::vector< VecBool >	active_constraints
	Masks for active constraint sets.

std::vector< ConstraintSetProduct >	cstr_product_sets
	Cartesian products of the constraint sets of each stage.

VectorXs	stage_inner_crits
	Subproblem termination criterion for each stage.

VectorXs	stage_cstr_violations
	Constraint violation measures for each stage and constraint.

std::vector< VectorXs >	stage_infeasibilities
	Stagewise infeasibilities.

VectorXs	state_dual_infeas
	Dual infeasibility in the states for each stage of the problem.

VectorXs	control_dual_infeas
	Dual infeasibility in the controls for each stage of the problem.

Scalar	inner_criterion = 0.
	Overall subproblem termination criterion.

std::vector< VectorXs >	dyn_slacks
	Dynamical infeasibility gaps.

std::size_t	nsteps
	Number of steps in the problem.

TrajOptDataTpl< Scalar >	problem_data
	Problem data.

Lagrangian Gradients
std::vector< VectorXs >	Lxs

std::vector< VectorXs >	Lus

std::vector< VectorXs >	Lvs

std::vector< VectorXs >	Lds

Trial primal-dual step
std::vector< VectorXs >	trial_vs

std::vector< VectorXs >	trial_lams

std::vector< VectorXs >	trial_us

std::vector< VectorXs >	trial_xs

Lagrange multipliers.
std::vector< VectorXs >	lams_plus

std::vector< VectorXs >	lams_pdal

std::vector< VectorXs >	vs_plus

std::vector< VectorXs >	vs_pdal

Primal-dual steps
std::vector< VectorXs >	dxs

std::vector< VectorXs >	dus

std::vector< VectorXs >	dvs

std::vector< VectorXs >	dlams

Previous external/proximal iterates
std::vector< VectorXs >	prev_xs

std::vector< VectorXs >	prev_us

std::vector< VectorXs >	prev_vs

std::vector< VectorXs >	prev_lams

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

Friends
template<typename T >
std::ostream &	operator<< (std::ostream &oss, const WorkspaceTpl< T > &self)

Additional Inherited Members
Protected Attributes inherited from aligator::WorkspaceBaseTpl< Scalar >
bool	m_isInitialized

Detailed Description

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

Workspace for solver SolverProxDDP.

This struct holds data for the Riccati forward and backward passes, the primal-dual steps, problem data...

Definition at line 30 of file workspace.hpp.

Member Typedef Documentation

◆ StageModel

template<typename Scalar >

using aligator::WorkspaceTpl< Scalar >::StageModel = StageModelTpl<Scalar>

Definition at line 32 of file workspace.hpp.

◆ Base

template<typename Scalar >

using aligator::WorkspaceTpl< Scalar >::Base = WorkspaceBaseTpl<Scalar>

Definition at line 33 of file workspace.hpp.

◆ VecBool

template<typename Scalar >

using aligator::WorkspaceTpl< Scalar >::VecBool = Eigen::Matrix<bool, Eigen::Dynamic, 1>

Definition at line 34 of file workspace.hpp.

◆ CstrProxScaler

template<typename Scalar >

using aligator::WorkspaceTpl< Scalar >::CstrProxScaler = ConstraintProximalScalerTpl<Scalar>

Definition at line 35 of file workspace.hpp.

◆ KnotType

template<typename Scalar >

using aligator::WorkspaceTpl< Scalar >::KnotType = gar::LQRKnotTpl<Scalar>

Definition at line 36 of file workspace.hpp.

◆ ConstraintSetProduct

template<typename Scalar >

using aligator::WorkspaceTpl< Scalar >::ConstraintSetProduct = ConstraintSetProductTpl<Scalar>

Definition at line 37 of file workspace.hpp.

◆ BlkJacobianType

template<typename Scalar >

using aligator::WorkspaceTpl< Scalar >::BlkJacobianType = BlkMatrix<MatrixXs, -1, 2>

Definition at line 38 of file workspace.hpp.

Constructor & Destructor Documentation

◆ WorkspaceTpl() [1/4]

template<typename Scalar >

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl ( )

inline

Definition at line 111 of file workspace.hpp.

◆ WorkspaceTpl() [2/4]

template<typename Scalar >

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl ( const TrajOptProblemTpl< Scalar > & problem )

◆ WorkspaceTpl() [3/4]

template<typename Scalar >

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl ( const WorkspaceTpl< Scalar > & )

delete

◆ WorkspaceTpl() [4/4]

template<typename Scalar >

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl ( WorkspaceTpl< Scalar > && )

default

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >

aligator::WorkspaceTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ operator=() [1/2]

template<typename Scalar >

WorkspaceTpl & aligator::WorkspaceTpl< Scalar >::operator= ( const WorkspaceTpl< Scalar > & )

delete

◆ operator=() [2/2]

template<typename Scalar >

WorkspaceTpl & aligator::WorkspaceTpl< Scalar >::operator= ( WorkspaceTpl< Scalar > && )

default

◆ cycleLeft()

template<typename Scalar >

void aligator::WorkspaceTpl< Scalar >::cycleLeft ( )

◆ configureScalers()

template<typename Scalar >

template<typename F >

void aligator::WorkspaceTpl< Scalar >::configureScalers	(	const TrajOptProblemTpl< Scalar > &	problem,
		const Scalar &	mu,
		F &&	strat )

inline

Definition at line 127 of file workspace.hpp.

Friends And Related Symbol Documentation

◆ operator<<

template<typename Scalar >

template<typename T >

std::ostream & operator<<	(	std::ostream &	oss,
		const WorkspaceTpl< T > &	self )

friend

Member Data Documentation

◆ lqr_problem

template<typename Scalar >

gar::LQRProblemTpl<Scalar> aligator::WorkspaceTpl< Scalar >::lqr_problem

Definition at line 44 of file workspace.hpp.

◆ cstr_scalers

template<typename Scalar >

std::vector<CstrProxScaler> aligator::WorkspaceTpl< Scalar >::cstr_scalers

Definition at line 45 of file workspace.hpp.

◆ Lxs

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::Lxs

Definition at line 49 of file workspace.hpp.

◆ Lus

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::Lus

Definition at line 50 of file workspace.hpp.

◆ Lvs

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::Lvs

Definition at line 51 of file workspace.hpp.

◆ Lds

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::Lds

Definition at line 52 of file workspace.hpp.

◆ trial_vs

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::trial_vs

Definition at line 59 of file workspace.hpp.

◆ trial_lams

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::trial_lams

Definition at line 60 of file workspace.hpp.

◆ lams_plus

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::lams_plus

Definition at line 65 of file workspace.hpp.

◆ lams_pdal

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::lams_pdal

Definition at line 66 of file workspace.hpp.

◆ vs_plus

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::vs_plus

Definition at line 67 of file workspace.hpp.

◆ vs_pdal

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::vs_pdal

Definition at line 68 of file workspace.hpp.

◆ shifted_constraints

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::shifted_constraints

Shifted constraints the projection operators should be applied to.

Definition at line 72 of file workspace.hpp.

◆ cstr_lx_corr

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::cstr_lx_corr

Definition at line 73 of file workspace.hpp.

◆ cstr_lu_corr

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::cstr_lu_corr

Definition at line 74 of file workspace.hpp.

◆ cstr_proj_jacs

template<typename Scalar >

std::vector<BlkJacobianType> aligator::WorkspaceTpl< Scalar >::cstr_proj_jacs

Projected path constraint Jacobians (used to symmetrize the LQ subproblem)

Definition at line 76 of file workspace.hpp.

◆ active_constraints

template<typename Scalar >

std::vector<VecBool> aligator::WorkspaceTpl< Scalar >::active_constraints

Masks for active constraint sets.

Definition at line 78 of file workspace.hpp.

◆ cstr_product_sets

template<typename Scalar >

std::vector<ConstraintSetProduct> aligator::WorkspaceTpl< Scalar >::cstr_product_sets

Cartesian products of the constraint sets of each stage.

Definition at line 80 of file workspace.hpp.

◆ dxs

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::dxs

Definition at line 84 of file workspace.hpp.

◆ dus

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::dus

Definition at line 85 of file workspace.hpp.

◆ dvs

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::dvs

Definition at line 86 of file workspace.hpp.

◆ dlams

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::dlams

Definition at line 87 of file workspace.hpp.

◆ prev_xs

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::prev_xs

Definition at line 92 of file workspace.hpp.

◆ prev_us

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::prev_us

Definition at line 93 of file workspace.hpp.

◆ prev_vs

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::prev_vs

Definition at line 94 of file workspace.hpp.

◆ prev_lams

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::prev_lams

Definition at line 95 of file workspace.hpp.

◆ stage_inner_crits

template<typename Scalar >

VectorXs aligator::WorkspaceTpl< Scalar >::stage_inner_crits

Subproblem termination criterion for each stage.

Definition at line 99 of file workspace.hpp.

◆ stage_cstr_violations

template<typename Scalar >

VectorXs aligator::WorkspaceTpl< Scalar >::stage_cstr_violations

Constraint violation measures for each stage and constraint.

Definition at line 101 of file workspace.hpp.

◆ stage_infeasibilities

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::stage_infeasibilities

Stagewise infeasibilities.

Definition at line 103 of file workspace.hpp.

◆ state_dual_infeas

template<typename Scalar >

VectorXs aligator::WorkspaceTpl< Scalar >::state_dual_infeas

Dual infeasibility in the states for each stage of the problem.

Definition at line 105 of file workspace.hpp.

◆ control_dual_infeas

template<typename Scalar >

VectorXs aligator::WorkspaceTpl< Scalar >::control_dual_infeas

Dual infeasibility in the controls for each stage of the problem.

Definition at line 107 of file workspace.hpp.

◆ inner_criterion

template<typename Scalar >

Scalar aligator::WorkspaceTpl< Scalar >::inner_criterion = 0.

Overall subproblem termination criterion.

Definition at line 109 of file workspace.hpp.

◆ dyn_slacks

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceBaseTpl< Scalar >::dyn_slacks

Dynamical infeasibility gaps.

Definition at line 32 of file workspace-base.hpp.

◆ nsteps

template<typename Scalar >

std::size_t aligator::WorkspaceBaseTpl< Scalar >::nsteps

Number of steps in the problem.

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

◆ problem_data

template<typename Scalar >

TrajOptDataTpl<Scalar> aligator::WorkspaceBaseTpl< Scalar >::problem_data

Problem data.

Definition at line 23 of file workspace-base.hpp.

◆ trial_us

template<typename Scalar >

std::vector<VectorXs> aligator::WorkspaceBaseTpl< Scalar >::trial_us

Definition at line 28 of file workspace-base.hpp.

◆ trial_xs

template<typename Scalar >

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 files:

include/aligator/fwd.hpp
include/aligator/solvers/proxddp/workspace.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ StageModel

◆ Base

◆ VecBool

◆ CstrProxScaler

◆ KnotType

◆ ConstraintSetProduct

◆ BlkJacobianType

Constructor & Destructor Documentation

◆ WorkspaceTpl() [1/4]

◆ WorkspaceTpl() [2/4]

◆ WorkspaceTpl() [3/4]

◆ WorkspaceTpl() [4/4]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ cycleLeft()

◆ configureScalers()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ lqr_problem

◆ cstr_scalers

◆ Lxs

◆ Lus

◆ Lvs

◆ Lds

◆ trial_vs

◆ trial_lams

◆ lams_plus

◆ lams_pdal

◆ vs_plus

◆ vs_pdal

◆ shifted_constraints

◆ cstr_lx_corr

◆ cstr_lu_corr

◆ cstr_proj_jacs

◆ active_constraints

◆ cstr_product_sets

◆ dxs

◆ dus

◆ dvs

◆ dlams

◆ prev_xs

◆ prev_us

◆ prev_vs

◆ prev_lams

◆ stage_inner_crits

◆ stage_cstr_violations

◆ stage_infeasibilities

◆ state_dual_infeas

◆ control_dual_infeas

◆ inner_criterion

◆ dyn_slacks

◆ nsteps

◆ problem_data

◆ trial_us

◆ trial_xs