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

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

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

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 ()

Detailed Description

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

Definition at line 18 of file riccati-impl.hpp.

Member Typedef Documentation

KnotType

template<typename Scalar >

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

Definition at line 61 of file lqr-problem.hpp.

KnotVector

template<typename Scalar >

using aligator::gar::LQRProblemTpl< Scalar >::KnotVector = std::vector<KnotType>

Definition at line 62 of file lqr-problem.hpp.

Constructor & Destructor Documentation

LQRProblemTpl() [1/3]

template<typename Scalar >

aligator::gar::LQRProblemTpl< Scalar >::LQRProblemTpl ( )

inline

Definition at line 70 of file lqr-problem.hpp.

LQRProblemTpl() [2/3]

template<typename Scalar >

aligator::gar::LQRProblemTpl< Scalar >::LQRProblemTpl ( KnotVector && knots, long nc0 )

inline

Definition at line 72 of file lqr-problem.hpp.

LQRProblemTpl() [3/3]

template<typename Scalar >

aligator::gar::LQRProblemTpl< Scalar >::LQRProblemTpl ( const KnotVector & knots, long nc0 )

inline

Definition at line 76 of file lqr-problem.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >

aligator::gar::LQRProblemTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

horizon()

template<typename Scalar >

int aligator::gar::LQRProblemTpl< Scalar >::horizon ( ) const

inlinenoexcept

Definition at line 67 of file lqr-problem.hpp.

nc0()

template<typename Scalar >

uint aligator::gar::LQRProblemTpl< Scalar >::nc0 ( ) const

inlinenoexcept

Definition at line 68 of file lqr-problem.hpp.

addParameterization()

template<typename Scalar >

void aligator::gar::LQRProblemTpl< Scalar >::addParameterization ( uint nth )

inline

Definition at line 81 of file lqr-problem.hpp.

isParameterized()

template<typename Scalar >

bool aligator::gar::LQRProblemTpl< Scalar >::isParameterized ( ) const

inline

Definition at line 89 of file lqr-problem.hpp.

isInitialized()

template<typename Scalar >

bool aligator::gar::LQRProblemTpl< Scalar >::isInitialized ( ) const

inline

Definition at line 93 of file lqr-problem.hpp.

ntheta()

template<typename Scalar >

uint aligator::gar::LQRProblemTpl< Scalar >::ntheta ( ) const

inline

Definition at line 95 of file lqr-problem.hpp.

evaluate()

template<typename Scalar >

Scalar aligator::gar::LQRProblemTpl< Scalar >::evaluate	(	const VectorOfVectors &	xs,
		const VectorOfVectors &	us,
		const std::optional< ConstVectorRef > &	theta_ ) const

Evaluate the quadratic objective.

initialize()

template<typename Scalar >

void aligator::gar::LQRProblemTpl< Scalar >::initialize ( )

inlineprotected

Definition at line 102 of file lqr-problem.hpp.

Member Data Documentation

stages

template<typename Scalar >

KnotVector aligator::gar::LQRProblemTpl< Scalar >::stages

Definition at line 63 of file lqr-problem.hpp.

G0

template<typename Scalar >

MatrixXs aligator::gar::LQRProblemTpl< Scalar >::G0

Definition at line 64 of file lqr-problem.hpp.

g0

template<typename Scalar >

VectorXs aligator::gar::LQRProblemTpl< Scalar >::g0

Definition at line 65 of file lqr-problem.hpp.

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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