aligator::gar::LQRKnotTpl< Scalar > Struct Template Reference

Struct describing a stage of a constrained LQ problem. More...

#include </home/runner/work/aligator/aligator/gar/include/aligator/gar/lqr-problem.hpp>

Collaboration diagram for aligator::gar::LQRKnotTpl< Scalar >:

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	LQRKnotTpl (uint nx, uint nu, uint nc, uint nx2, uint nth=0)
	LQRKnotTpl (uint nx, uint nu, uint nc)
void	addParameterization (uint nth)
bool	isApprox (const LQRKnotTpl &other, Scalar prec=std::numeric_limits< Scalar >::epsilon()) const

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

Friends
bool	operator== (const LQRKnotTpl &lhs, const LQRKnotTpl &rhs)

Detailed Description

template<typename Scalar>
struct aligator::gar::LQRKnotTpl< Scalar >

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 17 of file riccati-impl.hpp.

Constructor & Destructor Documentation

LQRKnotTpl() [1/2]

template<typename Scalar >

aligator::gar::LQRKnotTpl< Scalar >::LQRKnotTpl	(	uint	nx,
		uint	nu,
		uint	nc,
		uint	nx2,
		uint	nth = 0 )

LQRKnotTpl() [2/2]

template<typename Scalar >

aligator::gar::LQRKnotTpl< Scalar >::LQRKnotTpl ( uint nx, uint nu, uint nc )

inline

Definition at line 47 of file lqr-problem.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >

aligator::gar::LQRKnotTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

addParameterization()

template<typename Scalar >

void aligator::gar::LQRKnotTpl< Scalar >::addParameterization

(

uint

nth

)

isApprox()

template<typename Scalar >

bool aligator::gar::LQRKnotTpl< Scalar >::isApprox	(	const LQRKnotTpl< Scalar > &	other,
		Scalar	prec = std::numeric_limits< Scalar >::epsilon() ) const

Friends And Related Symbol Documentation

operator==

template<typename Scalar >

bool operator== ( const LQRKnotTpl< Scalar > & lhs, const LQRKnotTpl< Scalar > & rhs )

friend

Definition at line 54 of file lqr-problem.hpp.

Member Data Documentation

nx

template<typename Scalar >

uint aligator::gar::LQRKnotTpl< Scalar >::nx

Definition at line 31 of file lqr-problem.hpp.

nu

template<typename Scalar >

uint aligator::gar::LQRKnotTpl< Scalar >::nu

Definition at line 31 of file lqr-problem.hpp.

nc

template<typename Scalar >

uint aligator::gar::LQRKnotTpl< Scalar >::nc

Definition at line 31 of file lqr-problem.hpp.

nx2

template<typename Scalar >

uint aligator::gar::LQRKnotTpl< Scalar >::nx2

Definition at line 31 of file lqr-problem.hpp.

nth

template<typename Scalar >

uint aligator::gar::LQRKnotTpl< Scalar >::nth

Definition at line 31 of file lqr-problem.hpp.

Q

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Q

Definition at line 32 of file lqr-problem.hpp.

S

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::S

Definition at line 32 of file lqr-problem.hpp.

R

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::R

Definition at line 32 of file lqr-problem.hpp.

q

template<typename Scalar >

VectorXs aligator::gar::LQRKnotTpl< Scalar >::q

Definition at line 33 of file lqr-problem.hpp.

r

template<typename Scalar >

VectorXs aligator::gar::LQRKnotTpl< Scalar >::r

Definition at line 33 of file lqr-problem.hpp.

A

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::A

Definition at line 34 of file lqr-problem.hpp.

B

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::B

Definition at line 34 of file lqr-problem.hpp.

E

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::E

Definition at line 34 of file lqr-problem.hpp.

f

template<typename Scalar >

VectorXs aligator::gar::LQRKnotTpl< Scalar >::f

Definition at line 35 of file lqr-problem.hpp.

C

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::C

Definition at line 36 of file lqr-problem.hpp.

D

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::D

Definition at line 36 of file lqr-problem.hpp.

d

template<typename Scalar >

VectorXs aligator::gar::LQRKnotTpl< Scalar >::d

Definition at line 37 of file lqr-problem.hpp.

Gth

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Gth

Definition at line 39 of file lqr-problem.hpp.

Gx

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Gx

Definition at line 40 of file lqr-problem.hpp.

Gu

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Gu

Definition at line 41 of file lqr-problem.hpp.

Gv

template<typename Scalar >

MatrixXs aligator::gar::LQRKnotTpl< Scalar >::Gv

Definition at line 42 of file lqr-problem.hpp.

gamma

template<typename Scalar >

VectorXs aligator::gar::LQRKnotTpl< Scalar >::gamma

Definition at line 43 of file lqr-problem.hpp.

---

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

• gar/include/aligator/gar/lqr-problem.hpp
• gar/include/aligator/gar/riccati-impl.hpp