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

Kernel for use in Riccati-like algorithms for the proximal LQ subproblem. More...

#include </home/runner/work/aligator/aligator/gar/include/aligator/gar/riccati-impl.hpp>

Classes
struct	kkt0_t

Public Types
using	RowMatrixXs = Eigen::Matrix<Scalar, -1, -1, Eigen::RowMajor>
using	RowMatrixRef = Eigen::Ref<RowMatrixXs>
using	ConstRowMatrixRef = Eigen::Ref<const RowMatrixXs>
using	KnotType = LQRKnotTpl<Scalar>
using	StageFactorType = StageFactor<Scalar>
using	value_t = typename StageFactor<Scalar>::value_t

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

Static Public Member Functions
static void	terminalSolve (const KnotType &model, const Scalar mueq, StageFactorType &d)
static bool	backwardImpl (boost::span< const KnotType > stages, const Scalar mudyn, const Scalar mueq, boost::span< StageFactorType > datas)
static void	computeInitial (VectorRef x0, VectorRef lbd0, const kkt0_t &kkt0, const std::optional< ConstVectorRef > &theta_)
	Solve initial stage.
static void	stageKernelSolve (const KnotType &model, StageFactorType &d, value_t &vn, const Scalar mudyn, const Scalar mueq)
static bool	forwardImpl (boost::span< const KnotType > stages, boost::span< const StageFactorType > datas, boost::span< VectorXs > xs, boost::span< VectorXs > us, boost::span< VectorXs > vs, boost::span< VectorXs > lbdas, const std::optional< ConstVectorRef > &theta_=std::nullopt)
	Forward sweep.

Detailed Description

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

Kernel for use in Riccati-like algorithms for the proximal LQ subproblem.

Definition at line 91 of file riccati-impl.hpp.

Member Typedef Documentation

RowMatrixXs

template<typename Scalar >

using aligator::gar::ProximalRiccatiKernel< Scalar >::RowMatrixXs = Eigen::Matrix<Scalar, -1, -1, Eigen::RowMajor>

Definition at line 93 of file riccati-impl.hpp.

RowMatrixRef

template<typename Scalar >

using aligator::gar::ProximalRiccatiKernel< Scalar >::RowMatrixRef = Eigen::Ref<RowMatrixXs>

Definition at line 94 of file riccati-impl.hpp.

ConstRowMatrixRef

template<typename Scalar >

using aligator::gar::ProximalRiccatiKernel< Scalar >::ConstRowMatrixRef = Eigen::Ref<const RowMatrixXs>

Definition at line 95 of file riccati-impl.hpp.

KnotType

template<typename Scalar >

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

Definition at line 96 of file riccati-impl.hpp.

StageFactorType

template<typename Scalar >

using aligator::gar::ProximalRiccatiKernel< Scalar >::StageFactorType = StageFactor<Scalar>

Definition at line 97 of file riccati-impl.hpp.

value_t

template<typename Scalar >

using aligator::gar::ProximalRiccatiKernel< Scalar >::value_t = typename StageFactor<Scalar>::value_t

Definition at line 98 of file riccati-impl.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >

aligator::gar::ProximalRiccatiKernel< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

terminalSolve()

template<typename Scalar >

static void aligator::gar::ProximalRiccatiKernel< Scalar >::terminalSolve ( const KnotType & model, const Scalar mueq, StageFactorType & d )

inlinestatic

backwardImpl()

template<typename Scalar >

static bool aligator::gar::ProximalRiccatiKernel< Scalar >::backwardImpl ( boost::span< const KnotType > stages, const Scalar mudyn, const Scalar mueq, boost::span< StageFactorType > datas )

inlinestatic

computeInitial()

template<typename Scalar >

static void aligator::gar::ProximalRiccatiKernel< Scalar >::computeInitial ( VectorRef x0, VectorRef lbd0, const kkt0_t & kkt0, const std::optional< ConstVectorRef > & theta_ )

inlinestatic

Solve initial stage.

stageKernelSolve()

template<typename Scalar >

static void aligator::gar::ProximalRiccatiKernel< Scalar >::stageKernelSolve ( const KnotType & model, StageFactorType & d, value_t & vn, const Scalar mudyn, const Scalar mueq )

inlinestatic

forwardImpl()

template<typename Scalar >

static bool aligator::gar::ProximalRiccatiKernel< Scalar >::forwardImpl ( boost::span< const KnotType > stages, boost::span< const StageFactorType > datas, boost::span< VectorXs > xs, boost::span< VectorXs > us, boost::span< VectorXs > vs, boost::span< VectorXs > lbdas, const std::optional< ConstVectorRef > & theta_ = std::nullopt )

inlinestatic

Forward sweep.

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

• gar/include/aligator/gar/riccati-impl.hpp