aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Struct describing a stage of a constrained LQ problem. More...
#include </home/runner/work/aligator/aligator/gar/include/aligator/gar/lqr-problem.hpp>
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
LQRKnotTpl ()=default | |
LQRKnotTpl (uint nx, uint nu, uint nc, uint nx2, uint nth=0) | |
LQRKnotTpl (uint nx, uint nu, uint nc) | |
void | addParameterization (uint nth) |
Public Attributes | |
uint | nx |
uint | nu |
uint | nc |
uint | nx2 |
uint | nth |
MatrixXs | Q |
MatrixXs | S |
MatrixXs | R |
VectorXs | q |
VectorXs | r |
MatrixXs | A |
MatrixXs | B |
MatrixXs | E |
VectorXs | f |
MatrixXs | C |
MatrixXs | D |
VectorXs | d |
MatrixXs | Gth |
MatrixXs | Gx |
MatrixXs | Gu |
MatrixXs | Gv |
VectorXs | gamma |
Struct describing a stage of a constrained LQ problem.
A LQ knot corresponding to cost
\[ \frac{1}{2} \begin{bmatrix}x \\ u\end{bmatrix}^\top \begin{bmatrix}Q & S \\ S^\top & R\end{bmatrix} \begin{bmatrix}x \\ u\end{bmatrix} + q^\top x + r^\top u \]
and constraints
\[ Ex' + Ax + Bu + f = 0, \quad Cx + Du + d = 0. \]
Definition at line 27 of file lqr-problem.hpp.
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default |
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inline |
Definition at line 46 of file lqr-problem.hpp.
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inline |
Definition at line 74 of file lqr-problem.hpp.
aligator::gar::LQRKnotTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inline |
Definition at line 77 of file lqr-problem.hpp.
uint aligator::gar::LQRKnotTpl< Scalar >::nx |
Definition at line 30 of file lqr-problem.hpp.
uint aligator::gar::LQRKnotTpl< Scalar >::nu |
Definition at line 30 of file lqr-problem.hpp.
uint aligator::gar::LQRKnotTpl< Scalar >::nc |
Definition at line 30 of file lqr-problem.hpp.
uint aligator::gar::LQRKnotTpl< Scalar >::nx2 |
Definition at line 30 of file lqr-problem.hpp.
uint aligator::gar::LQRKnotTpl< Scalar >::nth |
Definition at line 30 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Q |
Definition at line 31 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::S |
Definition at line 31 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::R |
Definition at line 31 of file lqr-problem.hpp.
VectorXs aligator::gar::LQRKnotTpl< Scalar >::q |
Definition at line 32 of file lqr-problem.hpp.
VectorXs aligator::gar::LQRKnotTpl< Scalar >::r |
Definition at line 32 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::A |
Definition at line 33 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::B |
Definition at line 33 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::E |
Definition at line 33 of file lqr-problem.hpp.
VectorXs aligator::gar::LQRKnotTpl< Scalar >::f |
Definition at line 34 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::C |
Definition at line 35 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::D |
Definition at line 35 of file lqr-problem.hpp.
VectorXs aligator::gar::LQRKnotTpl< Scalar >::d |
Definition at line 36 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Gth |
Definition at line 38 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Gx |
Definition at line 39 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Gu |
Definition at line 40 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Gv |
Definition at line 41 of file lqr-problem.hpp.
VectorXs aligator::gar::LQRKnotTpl< Scalar >::gamma |
Definition at line 42 of file lqr-problem.hpp.