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

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

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

Classes
struct	__view_base

Public Types
using	MVec = ManagedMatrix<Scalar, Eigen::Dynamic, 1>

using	MMat = ManagedMatrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>

using	allocator_type = polymorphic_allocator

template<typename T, bool Cond>
using	add_const_if_t = std::conditional_t<Cond, std::add_const_t<T>, T>

using	view_t = __view_base<false>

using	const_view_t = __view_base<true>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

view_t	to_view ()
	Convert knot to an aggregate of Eigen::Map.

const_view_t	to_const_view () const
	Convert knot to an aggregate of Eigen::Map to const.

const_view_t	to_view () const

	operator view_t ()

	operator const_view_t () const

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

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 ()

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

MMat	Q

MMat	S

MMat	R

MVec	q

MVec	r

MMat	A

MMat	B

MMat	E

MVec	f

MMat	C

MMat	D

MVec	d

MMat	Gth

MMat	Gx

MMat	Gu

MMat	Gv

MVec	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

\[ Ex' + Ax + Bu + f = 0, \quad Cx + Du + d = 0. \]

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

Member Typedef Documentation

◆ MVec

template<typename Scalar>

using aligator::gar::LqrKnotTpl< Scalar >::MVec = ManagedMatrix<Scalar, Eigen::Dynamic, 1>

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

◆ MMat

template<typename Scalar>

using aligator::gar::LqrKnotTpl< Scalar >::MMat = ManagedMatrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>

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

◆ allocator_type

template<typename Scalar>

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

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

◆ add_const_if_t

template<typename Scalar>

template<typename T, bool Cond>

using aligator::gar::LqrKnotTpl< Scalar >::add_const_if_t = std::conditional_t<Cond, std::add_const_t<T>, T>

Definition at line 59 of file lqr-problem.hpp.

◆ view_t

template<typename Scalar>

using aligator::gar::LqrKnotTpl< Scalar >::view_t = __view_base<false>

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

◆ const_view_t

template<typename Scalar>

using aligator::gar::LqrKnotTpl< Scalar >::const_view_t = __view_base<true>

Definition at line 82 of file lqr-problem.hpp.

Constructor & Destructor Documentation

◆ LqrKnotTpl() [1/5]

template<typename Scalar>

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

◆ LqrKnotTpl() [2/5]

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 159 of file lqr-problem.hpp.

◆ LqrKnotTpl() [3/5]

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 163 of file lqr-problem.hpp.

◆ LqrKnotTpl() [4/5]

template<typename Scalar>

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

Copy constructor. Allocator must be given.

◆ LqrKnotTpl() [5/5]

template<typename Scalar>

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

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

◆ ~LqrKnotTpl()

template<typename Scalar>

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

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

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

◆ to_view() [1/2]

template<typename Scalar>

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

inline

Convert knot to an aggregate of Eigen::Map.

This is a convenience method for running computations.

Definition at line 87 of file lqr-problem.hpp.

◆ to_const_view()

template<typename Scalar>

const_view_t aligator::gar::LqrKnotTpl< Scalar >::to_const_view ( ) const

inline

Convert knot to an aggregate of Eigen::Map to const.

Definition at line 119 of file lqr-problem.hpp.

◆ to_view() [2/2]

template<typename Scalar>

const_view_t aligator::gar::LqrKnotTpl< Scalar >::to_view ( ) const

inline

Definition at line 150 of file lqr-problem.hpp.

◆ operator view_t()

template<typename Scalar>

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

inline

Definition at line 152 of file lqr-problem.hpp.

◆ operator const_view_t()

template<typename Scalar>

aligator::gar::LqrKnotTpl< Scalar >::operator const_view_t ( ) const

inline

Definition at line 153 of file lqr-problem.hpp.

◆ 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