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

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

Public Types
using	KnotType = LqrKnotTpl<Scalar>

using	KnotVector = std::pmr::vector<KnotType>

using	allocator_type = polymorphic_allocator

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

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

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 ()

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
MMat	G0

MVec	g0

KnotVector	stages

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

Detailed Description

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

Definition at line 198 of file lqr-problem.hpp.

Member Typedef Documentation

◆ KnotType

template<typename Scalar>

using aligator::gar::LqrProblemTpl< Scalar >::KnotType = LqrKnotTpl<Scalar>

Definition at line 201 of file lqr-problem.hpp.

◆ KnotVector

template<typename Scalar>

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

Definition at line 202 of file lqr-problem.hpp.

◆ allocator_type

template<typename Scalar>

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

Definition at line 203 of file lqr-problem.hpp.

◆ MVec

template<typename Scalar>

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

Definition at line 204 of file lqr-problem.hpp.

◆ MMat

template<typename Scalar>

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

Definition at line 205 of file lqr-problem.hpp.

Constructor & Destructor Documentation

◆ LqrProblemTpl() [1/5]

template<typename Scalar>

aligator::gar::LqrProblemTpl< Scalar >::LqrProblemTpl ( allocator_type alloc = {} )

inlineexplicit

Definition at line 214 of file lqr-problem.hpp.

◆ LqrProblemTpl() [2/5]

template<typename Scalar>

aligator::gar::LqrProblemTpl< Scalar >::LqrProblemTpl	(	const KnotVector &	knots,
		long	nc0,
		allocator_type	alloc = {} )

This constructor will take the knots as-is.

◆ LqrProblemTpl() [3/5]

template<typename Scalar>

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

This constructor will take the knots as-is, copying their specified allocator.

◆ LqrProblemTpl() [4/5]

template<typename Scalar>

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

inline

Copy constructor. Will copy the allocator from other.

Definition at line 228 of file lqr-problem.hpp.

◆ LqrProblemTpl() [5/5]

template<typename Scalar>

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

inline

Move constructor - we steal the allocator from the source object.

Definition at line 235 of file lqr-problem.hpp.

◆ ~LqrProblemTpl()

template<typename Scalar>

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

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 210 of file lqr-problem.hpp.

◆ nc0()

template<typename Scalar>

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

inlinenoexcept

Dimension of the initial condition constraint.

Definition at line 212 of file lqr-problem.hpp.

◆ addParameterization()

template<typename Scalar>

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

inline

Definition at line 243 of file lqr-problem.hpp.

◆ isParameterized()

template<typename Scalar>

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

inline

Definition at line 251 of file lqr-problem.hpp.

◆ isInitialized()

template<typename Scalar>

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

inline

Definition at line 255 of file lqr-problem.hpp.

◆ ntheta()

template<typename Scalar>

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

inline

Definition at line 257 of file lqr-problem.hpp.

◆ isApprox()

template<typename Scalar>

bool aligator::gar::LqrProblemTpl< Scalar >::isApprox ( const LqrProblemTpl< Scalar > & other )

inline

Definition at line 259 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.

◆ get_allocator()

template<typename Scalar>

allocator_type aligator::gar::LqrProblemTpl< Scalar >::get_allocator ( ) const

inline

Definition at line 274 of file lqr-problem.hpp.

Member Data Documentation

◆ Alignment

template<typename Scalar>

int aligator::gar::LqrProblemTpl< Scalar >::Alignment = Eigen::AlignedMax

staticconstexpr

Definition at line 200 of file lqr-problem.hpp.

◆ G0

template<typename Scalar>

MMat aligator::gar::LqrProblemTpl< Scalar >::G0

Definition at line 206 of file lqr-problem.hpp.

◆ g0

template<typename Scalar>

MVec aligator::gar::LqrProblemTpl< Scalar >::g0

Definition at line 207 of file lqr-problem.hpp.

◆ stages

template<typename Scalar>

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

Definition at line 208 of file lqr-problem.hpp.

The documentation for this struct was generated from the following files:

include/aligator/gar/fwd.hpp
include/aligator/gar/lqr-problem.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ KnotType

◆ KnotVector

◆ allocator_type

◆ MVec

◆ MMat

Constructor & Destructor Documentation

◆ LqrProblemTpl() [1/5]

◆ LqrProblemTpl() [2/5]

◆ LqrProblemTpl() [3/5]

◆ LqrProblemTpl() [4/5]

◆ LqrProblemTpl() [5/5]

◆ ~LqrProblemTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ horizon()

◆ nc0()

◆ addParameterization()

◆ isParameterized()

◆ isInitialized()

◆ ntheta()

◆ isApprox()

◆ evaluate()

◆ get_allocator()

Member Data Documentation

◆ Alignment

◆ G0

◆ g0

◆ stages