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aligator
0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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aligator
0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Additional Inherited Members | |
 Public Types inherited from aligator::ExplicitDynamicsDataTpl< Scalar > | |
| using | Scalar |
| using | Base |
| using | Scalar |
| using | Base |
| Public Types inherited from aligator::DynamicsDataTpl< Scalar > | |
| using | Scalar |
| using | Scalar |
| Public Member Functions inherited from aligator::ExplicitDynamicsDataTpl< Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| ExplicitDynamicsDataTpl (const int ndx1, const int nu, const int nx2, const int ndx2) | |
| virtual | ~ExplicitDynamicsDataTpl ()=default |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| ExplicitDynamicsDataTpl (const int ndx1, const int nu, const int nx2, const int ndx2) | |
| virtual | ~ExplicitDynamicsDataTpl ()=default |
| Public Member Functions inherited from aligator::DynamicsDataTpl< Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| DynamicsDataTpl (const DynamicsModelTpl< Scalar > &model) | |
| DynamicsDataTpl (const int ndx1, const int nu, const int ndx2) | |
| virtual | ~DynamicsDataTpl ()=default |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| DynamicsDataTpl (const DynamicsModelTpl< Scalar > &model) | |
| DynamicsDataTpl (const int ndx1, const int nu, const int ndx2) | |
| virtual | ~DynamicsDataTpl ()=default |
| Public Attributes inherited from aligator::ExplicitDynamicsDataTpl< Scalar > | |
| VectorXs | xnext_ |
| Model next state. | |
| VectorXs | dx_ |
Difference vector between current state x and xnext_. | |
| MatrixXs | Jtmp_xnext |
| Jacobian. | |
| VectorRef | xnext_ref |
| VectorRef | dx_ref |
| MatrixRef | Ju_ |
| Jacobian with respect to \(u\). | |
| MatrixRef | Jx_ |
| Jacobian with respect to \(x\). | |
| MatrixRef | Jy_ |
| Jacobian with respect to \(y\). | |
| VectorXs | value_ |
| Function value. | |
| VectorXs | xnext_ |
| Model next state. | |
| VectorXs | dx_ |
Difference vector between current state x and xnext_. | |
| MatrixXs | Jtmp_xnext |
| Jacobian. | |
| VectorRef | xnext_ref |
| VectorRef | dx_ref |
| MatrixRef | Ju_ |
| Jacobian with respect to \(u\). | |
| MatrixRef | Jx_ |
| Jacobian with respect to \(x\). | |
| MatrixRef | Jy_ |
| Jacobian with respect to \(y\). | |
| VectorXs | value_ |
| Function value. | |
| Public Attributes inherited from aligator::DynamicsDataTpl< Scalar > | |
| const int | ndx1 |
| const int | nu |
| const int | ndx2 |
| const int | nvar |
| Total number of variables. | |
| VectorXs | value_ |
| Function value. | |
| VectorRef | valref_ |
| MatrixXs | jac_buffer_ |
| Full Jacobian. | |
| MatrixRef | Jx_ |
| Jacobian with respect to \(x\). | |
| MatrixRef | Ju_ |
| Jacobian with respect to \(u\). | |
| MatrixRef | Jy_ |
| Jacobian with respect to \(y\). | |
| MatrixXs | Hxx_ |
| MatrixXs | Hxu_ |
| MatrixXs | Hxy_ |
| MatrixXs | Huu_ |
| MatrixXs | Huy_ |
| MatrixXs | Hyy_ |
| const int | ndx1 |
| const int | nu |
| const int | ndx2 |
| const int | nvar |
| Total number of variables. | |
| VectorXs | value_ |
| Function value. | |
| VectorRef | valref_ |
| MatrixXs | jac_buffer_ |
| Full Jacobian. | |
| MatrixRef | Jx_ |
| Jacobian with respect to \(x\). | |
| MatrixRef | Ju_ |
| Jacobian with respect to \(u\). | |
| MatrixRef | Jy_ |
| Jacobian with respect to \(y\). | |
| MatrixXs | Hxx_ |
| MatrixXs | Hxu_ |
| MatrixXs | Hxy_ |
| MatrixXs | Huu_ |
| MatrixXs | Huy_ |
| MatrixXs | Hyy_ |
Definition at line 34 of file expose-explicit-dynamics.cpp.
1.13.2