aligator  0.13.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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aligator::gar::DenseKernel< _Scalar > Struct Template Reference

A dense Bunch-Kaufman based kernel. More...

#include <aligator/gar/dense-kernel.hpp>

Classes

struct  Data
 
struct  value
 

Public Types

using Scalar = _Scalar
 
using KnotType = LqrKnotTpl<Scalar>
 

Public Member Functions

 ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES (Scalar)
 

Static Public Member Functions

static void terminalSolve (const KnotType &knot, Data &d, value v, Scalar mueq)
 
static void stageKernelSolve (const KnotType &knot, Data &d, value v, const value *vn, Scalar mudyn, Scalar mueq)
 
static bool forwardStep (size_t i, bool isTerminal, const KnotType &knot, const Data &d, boost::span< VectorXs > xs, boost::span< VectorXs > us, boost::span< VectorXs > vs, boost::span< VectorXs > lbdas, const std::optional< ConstVectorRef > &theta_)
 

Detailed Description

template<typename _Scalar>
struct aligator::gar::DenseKernel< _Scalar >

A dense Bunch-Kaufman based kernel.

Definition at line 21 of file dense-kernel.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>
using aligator::gar::DenseKernel< _Scalar >::Scalar = _Scalar

Definition at line 22 of file dense-kernel.hpp.

◆ KnotType

template<typename _Scalar>
using aligator::gar::DenseKernel< _Scalar >::KnotType = LqrKnotTpl<Scalar>

Definition at line 24 of file dense-kernel.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES()

template<typename _Scalar>
aligator::gar::DenseKernel< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS_WITH_ROW_TYPES ( Scalar )

◆ terminalSolve()

template<typename _Scalar>
static void aligator::gar::DenseKernel< _Scalar >::terminalSolve ( const KnotType & knot,
Data & d,
value v,
Scalar mueq )
inlinestatic

Definition at line 61 of file dense-kernel.hpp.

◆ stageKernelSolve()

template<typename _Scalar>
static void aligator::gar::DenseKernel< _Scalar >::stageKernelSolve ( const KnotType & knot,
Data & d,
value v,
const value * vn,
Scalar mudyn,
Scalar mueq )
inlinestatic

Definition at line 102 of file dense-kernel.hpp.

◆ forwardStep()

template<typename _Scalar>
static bool aligator::gar::DenseKernel< _Scalar >::forwardStep ( size_t i,
bool isTerminal,
const KnotType & knot,
const Data & d,
boost::span< VectorXs > xs,
boost::span< VectorXs > us,
boost::span< VectorXs > vs,
boost::span< VectorXs > lbdas,
const std::optional< ConstVectorRef > & theta_ )
inlinestatic

Definition at line 179 of file dense-kernel.hpp.


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