aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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#include "aligator/core/stage-model.hpp"
#include "aligator/modelling/state-error.hpp"
#include "aligator/third-party/polymorphic_cxx14.h"
Go to the source code of this file.
Classes | |
struct | aligator::TrajOptProblemTpl< _Scalar > |
Trajectory optimization problem. More... | |
Namespaces | |
namespace | aligator |
Main package namespace. | |
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. | |
Definition in file traj-opt-problem.hpp.