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

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

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

Public Types
using	allocator_type = polymorphic_allocator

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	LqrKnotTpl ()=default

	LqrKnotTpl (const allocator_type &alloc)

	LqrKnotTpl (uint nx, uint nu, uint nc, uint nx2, uint nth, allocator_type alloc={})

	LqrKnotTpl (uint nx, uint nu, uint nc, uint nx2, allocator_type alloc={})
	Delegating constructor, assumes nth = 0.

	LqrKnotTpl (uint nx, uint nu, uint nc, allocator_type alloc={})
	Delegating constructor, assumes nx2 = nx, and nth = 0.

	LqrKnotTpl (const LqrKnotTpl &other, allocator_type alloc={})
	Copy constructor. Allocator must be given.

	LqrKnotTpl (LqrKnotTpl &&other) noexcept
	Move constructor. Allocator will be moved from other. Other will be have m_empty_after_move set to true.

	LqrKnotTpl (LqrKnotTpl &&other, const allocator_type &alloc)
	Extended move constructor.

LqrKnotTpl &	operator= (const LqrKnotTpl &other)
	Copy assignment. Current allocator will be reused if required.

LqrKnotTpl &	operator= (LqrKnotTpl &&)
	Move assignment. Other allocator will be stolen.

	~LqrKnotTpl ()=default

void	assign (const LqrKnotTpl< Scalar > &other)
	Assign matrices (and dimensions) from another LqrKnotTpl.

LqrKnotTpl &	addParameterization (uint nth)

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

allocator_type	get_allocator () const

Public Attributes
uint	nx

uint	nu

uint	nc

uint	nx2

uint	nth

ArenaMatrix< MatrixXs >	Q

ArenaMatrix< MatrixXs >	S

ArenaMatrix< MatrixXs >	R

ArenaMatrix< VectorXs >	q

ArenaMatrix< VectorXs >	r

ArenaMatrix< MatrixXs >	A

ArenaMatrix< MatrixXs >	B

ArenaMatrix< VectorXs >	f

ArenaMatrix< MatrixXs >	C

ArenaMatrix< MatrixXs >	D

ArenaMatrix< VectorXs >	d

ArenaMatrix< MatrixXs >	Gth

ArenaMatrix< MatrixXs >	Gx

ArenaMatrix< MatrixXs >	Gu

ArenaMatrix< MatrixXs >	Gv

ArenaMatrix< VectorXs >	gamma

Static Public Attributes
static constexpr int	Alignment = Eigen::AlignedMax

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

\[ \begin{aligned} x' &= Ax + Bu + f, \\ 0 &= Cx + Du + d. \end{aligned} \]

When the parameter dimension nth is nonzero, this object also contains a parameterisation of the Lagrangian of a knot in the problem. This can be a linear term in the stage constraint, extra terms affine in \(\theta\), and so on.

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

Member Typedef Documentation

◆ allocator_type

template<typename Scalar>

using aligator::gar::LqrKnotTpl< Scalar >::allocator_type = polymorphic_allocator

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

Constructor & Destructor Documentation

◆ LqrKnotTpl() [1/8]

template<typename Scalar>

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

default

◆ LqrKnotTpl() [2/8]

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::LqrKnotTpl ( const allocator_type & alloc )

explicit

◆ LqrKnotTpl() [3/8]

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::LqrKnotTpl	(	uint	nx,
		uint	nu,
		uint	nc,
		uint	nx2,
		uint	nth,
		allocator_type	alloc = {} )

◆ LqrKnotTpl() [4/8]

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::LqrKnotTpl	(	uint	nx,
		uint	nu,
		uint	nc,
		uint	nx2,
		allocator_type	alloc = {} )

inline

Delegating constructor, assumes nth = 0.

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

◆ LqrKnotTpl() [5/8]

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::LqrKnotTpl	(	uint	nx,
		uint	nu,
		uint	nc,
		allocator_type	alloc = {} )

inline

Delegating constructor, assumes nx2 = nx, and nth = 0.

Definition at line 69 of file lqr-problem.hpp.

◆ LqrKnotTpl() [6/8]

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::LqrKnotTpl	(	const LqrKnotTpl< Scalar > &	other,
		allocator_type	alloc = {} )

Copy constructor. Allocator must be given.

◆ LqrKnotTpl() [7/8]

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::LqrKnotTpl ( LqrKnotTpl< Scalar > && other )

noexcept

Move constructor. Allocator will be moved from other. Other will be have m_empty_after_move set to true.

◆ LqrKnotTpl() [8/8]

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::LqrKnotTpl	(	LqrKnotTpl< Scalar > &&	other,
		const allocator_type &	alloc )

Extended move constructor.

◆ ~LqrKnotTpl()

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::~LqrKnotTpl ( )

default

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ operator=() [1/2]

template<typename Scalar>

LqrKnotTpl & aligator::gar::LqrKnotTpl< Scalar >::operator= ( const LqrKnotTpl< Scalar > & other )

Copy assignment. Current allocator will be reused if required.

◆ operator=() [2/2]

template<typename Scalar>

LqrKnotTpl & aligator::gar::LqrKnotTpl< Scalar >::operator= ( LqrKnotTpl< Scalar > && )

Move assignment. Other allocator will be stolen.

◆ assign()

template<typename Scalar>

void aligator::gar::LqrKnotTpl< Scalar >::assign ( const LqrKnotTpl< Scalar > & other )

Assign matrices (and dimensions) from another LqrKnotTpl.

◆ addParameterization()

template<typename Scalar>

LqrKnotTpl & 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