#include "aligator/core/stage-model.hpp"
#include "aligator/modelling/state-error.hpp"
#include "aligator/third-party/polymorphic_cxx14.h"

Include dependency graph for traj-opt-problem.hpp:

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Classes
struct	aligator::TrajOptProblemTpl< _Scalar >
	Trajectory optimization problem. More...

Functions
template<typename T1, typename T2>
bool	aligator::assign_no_resize (const std::vector< T1 > &lhs, std::vector< T2 > &rhs)
	Assign a vector of Eigen types into another, ensure there is no resize.

template<typename Scalar>
void	aligator::xs_default_init (const TrajOptProblemTpl< Scalar > &problem, std::vector< typename math_types< Scalar >::VectorXs > &xs)
	Default-initialize a trajectory to the neutral states for each state space at each stage.

template<typename Scalar>
void	aligator::us_default_init (const TrajOptProblemTpl< Scalar > &problem, std::vector< typename math_types< Scalar >::VectorXs > &us)
	Default-initialize a controls trajectory from the neutral element of each control space.

template<typename Scalar>
void	aligator::check_initial_guess_and_assign (const TrajOptProblemTpl< Scalar > &problem, const typename math_types< Scalar >::VectorOfVectors &xs_in, const typename math_types< Scalar >::VectorOfVectors &us_in, typename math_types< Scalar >::VectorOfVectors &xs_out, typename math_types< Scalar >::VectorOfVectors &us_out)
	Check the input state-control trajectory is a consistent warm-start for the output.

Detailed Description

Classes