aligator::gar::StageFactor< _Scalar > Struct Template Reference

Per-node struct for all computations in the factorization. More...

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

Collaboration diagram for aligator::gar::StageFactor< _Scalar >:

Classes
struct	value_t

Public Types
using	Scalar = _Scalar
using	RowMatrixXs = Eigen::Matrix<Scalar, -1, -1, Eigen::RowMajor>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFactor (uint nx, uint nu, uint nc, uint nx2, uint nth)

Public Attributes
MatrixXs	Qhat
MatrixXs	Rhat
MatrixXs	Shat
VectorXs	qhat
VectorXs	rhat
RowMatrixXs	AtV
RowMatrixXs	BtV
MatrixXs	Gxhat
MatrixXs	Guhat
BlkMatrix< VectorXs, 4, 1 >	ff
BlkMatrix< RowMatrixXs, 4, 1 >	fb
BlkMatrix< RowMatrixXs, 4, 1 >	fth
BlkMatrix< MatrixXs, 2, 2 >	kktMat
Eigen::BunchKaufman< MatrixXs >	kktChol
Eigen::PartialPivLU< MatrixXs >	Efact
VectorXs	yff_pre
MatrixXs	A_pre
MatrixXs	Yth_pre
MatrixXs	Ptilde
MatrixXs	Einv
MatrixXs	EinvP
MatrixXs	schurMat
Eigen::LLT< MatrixXs >	schurChol
value_t	vm

Detailed Description

template<typename _Scalar>
struct aligator::gar::StageFactor< _Scalar >

Per-node struct for all computations in the factorization.

Definition at line 34 of file riccati-impl.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

using aligator::gar::StageFactor< _Scalar >::Scalar = _Scalar

Definition at line 35 of file riccati-impl.hpp.

RowMatrixXs

template<typename _Scalar >

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

Definition at line 37 of file riccati-impl.hpp.

Constructor & Destructor Documentation

StageFactor()

template<typename _Scalar >

aligator::gar::StageFactor< _Scalar >::StageFactor ( uint nx, uint nu, uint nc, uint nx2, uint nth )

inline

Definition at line 57 of file riccati-impl.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::gar::StageFactor< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

Member Data Documentation

Qhat

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::Qhat

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

Rhat

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::Rhat

Definition at line 92 of file riccati-impl.hpp.

Shat

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::Shat

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

qhat

template<typename _Scalar >

VectorXs aligator::gar::StageFactor< _Scalar >::qhat

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

rhat

template<typename _Scalar >

VectorXs aligator::gar::StageFactor< _Scalar >::rhat

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

AtV

template<typename _Scalar >

RowMatrixXs aligator::gar::StageFactor< _Scalar >::AtV

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

BtV

template<typename _Scalar >

RowMatrixXs aligator::gar::StageFactor< _Scalar >::BtV

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

Gxhat

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::Gxhat

Definition at line 100 of file riccati-impl.hpp.

Guhat

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::Guhat

Definition at line 101 of file riccati-impl.hpp.

ff

template<typename _Scalar >

BlkMatrix<VectorXs, 4, 1> aligator::gar::StageFactor< _Scalar >::ff

Definition at line 103 of file riccati-impl.hpp.

fb

template<typename _Scalar >

BlkMatrix<RowMatrixXs, 4, 1> aligator::gar::StageFactor< _Scalar >::fb

Definition at line 104 of file riccati-impl.hpp.

fth

template<typename _Scalar >

BlkMatrix<RowMatrixXs, 4, 1> aligator::gar::StageFactor< _Scalar >::fth

Definition at line 105 of file riccati-impl.hpp.

kktMat

template<typename _Scalar >

BlkMatrix<MatrixXs, 2, 2> aligator::gar::StageFactor< _Scalar >::kktMat

Definition at line 106 of file riccati-impl.hpp.

kktChol

template<typename _Scalar >

Eigen::BunchKaufman<MatrixXs> aligator::gar::StageFactor< _Scalar >::kktChol

Definition at line 107 of file riccati-impl.hpp.

Efact

template<typename _Scalar >

Eigen::PartialPivLU<MatrixXs> aligator::gar::StageFactor< _Scalar >::Efact

Definition at line 108 of file riccati-impl.hpp.

yff_pre

template<typename _Scalar >

VectorXs aligator::gar::StageFactor< _Scalar >::yff_pre

Definition at line 109 of file riccati-impl.hpp.

A_pre

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::A_pre

Definition at line 110 of file riccati-impl.hpp.

Yth_pre

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::Yth_pre

Definition at line 111 of file riccati-impl.hpp.

Ptilde

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::Ptilde

Definition at line 112 of file riccati-impl.hpp.

Einv

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::Einv

Definition at line 113 of file riccati-impl.hpp.

EinvP

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::EinvP

Definition at line 114 of file riccati-impl.hpp.

schurMat

template<typename _Scalar >

MatrixXs aligator::gar::StageFactor< _Scalar >::schurMat

Definition at line 115 of file riccati-impl.hpp.

schurChol

template<typename _Scalar >

Eigen::LLT<MatrixXs> aligator::gar::StageFactor< _Scalar >::schurChol

Definition at line 116 of file riccati-impl.hpp.

vm

template<typename _Scalar >

value_t aligator::gar::StageFactor< _Scalar >::vm

Definition at line 117 of file riccati-impl.hpp.

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

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