aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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#include <aligator/gar/lqr-problem.hpp>
Public Types | |
using | KnotType = LqrKnotTpl<Scalar> |
using | KnotVector = std::pmr::vector<KnotType> |
using | allocator_type = polymorphic_allocator |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
int | horizon () const noexcept |
uint | nc0 () const noexcept |
Dimension of the initial condition constraint. | |
LqrProblemTpl (allocator_type alloc={}) | |
LqrProblemTpl (const KnotVector &knots, long nc0, allocator_type alloc={}) | |
This constructor will take the knots as-is. | |
LqrProblemTpl (KnotVector &&knots, long nc0) | |
This constructor will take the knots as-is, copying their specified allocator. | |
LqrProblemTpl (const LqrProblemTpl &other, allocator_type alloc={}) | |
Copy constructor. Will copy the allocator from other . | |
LqrProblemTpl (LqrProblemTpl &&other) | |
Move constructor - we steal the allocator from the source object. | |
LqrProblemTpl & | operator= (LqrProblemTpl &&other) |
~LqrProblemTpl ()=default | |
void | addParameterization (uint nth) |
bool | isParameterized () const |
bool | isInitialized () const |
uint | ntheta () const |
bool | isApprox (const LqrProblemTpl &other) |
Scalar | evaluate (const VectorOfVectors &xs, const VectorOfVectors &us, const std::optional< ConstVectorRef > &theta) const |
Evaluate the quadratic objective. | |
allocator_type | get_allocator () const |
Public Attributes | |
ArenaMatrix< MatrixXs > | G0 |
ArenaMatrix< VectorXs > | g0 |
KnotVector | stages |
Static Public Attributes | |
static constexpr int | Alignment = Eigen::AlignedMax |
Definition at line 105 of file lqr-problem.hpp.
using aligator::gar::LqrProblemTpl< Scalar >::KnotType = LqrKnotTpl<Scalar> |
Definition at line 108 of file lqr-problem.hpp.
using aligator::gar::LqrProblemTpl< Scalar >::KnotVector = std::pmr::vector<KnotType> |
Definition at line 109 of file lqr-problem.hpp.
using aligator::gar::LqrProblemTpl< Scalar >::allocator_type = polymorphic_allocator |
Definition at line 110 of file lqr-problem.hpp.
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inlineexplicit |
Definition at line 119 of file lqr-problem.hpp.
aligator::gar::LqrProblemTpl< Scalar >::LqrProblemTpl | ( | const KnotVector & | knots, |
long | nc0, | ||
allocator_type | alloc = {} ) |
This constructor will take the knots as-is.
aligator::gar::LqrProblemTpl< Scalar >::LqrProblemTpl | ( | KnotVector && | knots, |
long | nc0 ) |
This constructor will take the knots as-is, copying their specified allocator.
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inline |
Copy constructor. Will copy the allocator from other
.
Definition at line 133 of file lqr-problem.hpp.
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inline |
Move constructor - we steal the allocator from the source object.
Definition at line 140 of file lqr-problem.hpp.
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default |
aligator::gar::LqrProblemTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inlinenoexcept |
Definition at line 115 of file lqr-problem.hpp.
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inlinenoexcept |
Dimension of the initial condition constraint.
Definition at line 117 of file lqr-problem.hpp.
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inline |
Definition at line 146 of file lqr-problem.hpp.
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inline |
Definition at line 155 of file lqr-problem.hpp.
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inline |
Definition at line 163 of file lqr-problem.hpp.
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inline |
Definition at line 167 of file lqr-problem.hpp.
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inline |
Definition at line 169 of file lqr-problem.hpp.
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inlinenodiscard |
Definition at line 171 of file lqr-problem.hpp.
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nodiscard |
Evaluate the quadratic objective.
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inline |
Definition at line 187 of file lqr-problem.hpp.
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staticconstexpr |
Definition at line 107 of file lqr-problem.hpp.
ArenaMatrix<MatrixXs> aligator::gar::LqrProblemTpl< Scalar >::G0 |
Definition at line 111 of file lqr-problem.hpp.
ArenaMatrix<VectorXs> aligator::gar::LqrProblemTpl< Scalar >::g0 |
Definition at line 112 of file lqr-problem.hpp.
KnotVector aligator::gar::LqrProblemTpl< Scalar >::stages |
Definition at line 113 of file lqr-problem.hpp.