aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include </home/runner/work/aligator/aligator/gar/include/aligator/gar/lqr-problem.hpp>
Public Types | |
using | KnotType = LQRKnotTpl<Scalar> |
using | KnotVector = std::vector<KnotType> |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
int | horizon () const noexcept |
uint | nc0 () const noexcept |
LQRProblemTpl () | |
LQRProblemTpl (KnotVector &&knots, long nc0) | |
LQRProblemTpl (const KnotVector &knots, long nc0) | |
void | addParameterization (uint nth) |
bool | isParameterized () const |
bool | isInitialized () const |
uint | ntheta () const |
Scalar | evaluate (const VectorOfVectors &xs, const VectorOfVectors &us, const std::optional< ConstVectorRef > &theta_) const |
Evaluate the quadratic objective. | |
Public Attributes | |
KnotVector | stages |
MatrixXs | G0 |
VectorXs | g0 |
Protected Member Functions | |
void | initialize () |
Definition at line 87 of file lqr-problem.hpp.
using aligator::gar::LQRProblemTpl< Scalar >::KnotType = LQRKnotTpl<Scalar> |
Definition at line 89 of file lqr-problem.hpp.
using aligator::gar::LQRProblemTpl< Scalar >::KnotVector = std::vector<KnotType> |
Definition at line 90 of file lqr-problem.hpp.
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inline |
Definition at line 98 of file lqr-problem.hpp.
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inline |
Definition at line 100 of file lqr-problem.hpp.
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inline |
Definition at line 104 of file lqr-problem.hpp.
aligator::gar::LQRProblemTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inlinenoexcept |
Definition at line 95 of file lqr-problem.hpp.
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inlinenoexcept |
Definition at line 96 of file lqr-problem.hpp.
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inline |
Definition at line 109 of file lqr-problem.hpp.
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inline |
Definition at line 117 of file lqr-problem.hpp.
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inline |
Definition at line 121 of file lqr-problem.hpp.
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inline |
Definition at line 123 of file lqr-problem.hpp.
Scalar aligator::gar::LQRProblemTpl< Scalar >::evaluate | ( | const VectorOfVectors & | xs, |
const VectorOfVectors & | us, | ||
const std::optional< ConstVectorRef > & | theta_ ) const |
Evaluate the quadratic objective.
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inlineprotected |
Definition at line 130 of file lqr-problem.hpp.
KnotVector aligator::gar::LQRProblemTpl< Scalar >::stages |
Definition at line 91 of file lqr-problem.hpp.
MatrixXs aligator::gar::LQRProblemTpl< Scalar >::G0 |
Definition at line 92 of file lqr-problem.hpp.
VectorXs aligator::gar::LQRProblemTpl< Scalar >::g0 |
Definition at line 93 of file lqr-problem.hpp.