#include <alpaqa/inner/directions/panoc-ocp/ocp-vars.hpp>

Detailed Description

template<Config Conf>
struct alpaqa::OCPVariables< Conf >

Definition at line 23 of file ocp-vars.hpp.

Collaboration diagram for OCPVariables< Conf >:

Public Types
enum	Indices { i_u = 0 , i_h = 1 , i_c = 2 , i_h_N = 0 , i_c_N = 1 }

Public Member Functions
	OCPVariables (const std::array< index_t, 4 > &sizes, const std::array< index_t, 3 > &sizes_N, length_t N)

	OCPVariables (const TypeErasedControlProblem< config_t > &prob)

length_t	size (size_t i) const

length_t	size_N (size_t i) const

length_t	nx () const

length_t	nu () const

length_t	nxu () const

length_t	nh () const

length_t	nc () const

length_t	nx_N () const

length_t	nh_N () const

length_t	nc_N () const

vec	create () const

auto	xk (VectorRefLike< config_t > auto &&v, index_t t) const

auto	x (crvec v) const

auto	xuk (VectorRefLike< config_t > auto &&v, index_t t) const

auto	uk (VectorRefLike< config_t > auto &&v, index_t t) const

auto	u (crvec v) const

auto	hk (VectorRefLike< config_t > auto &&v, index_t t) const

auto	ck (VectorRefLike< config_t > auto &&v, index_t t) const

vec	create_qr () const

auto	qk (VectorRefLike< config_t > auto &&v, index_t t) const

auto	q (crvec v) const

auto	qN_mut (vec &v) const

auto	rk (VectorRefLike< config_t > auto &&v, index_t t) const

auto	r (crvec v) const

auto	qrk (VectorRefLike< config_t > auto &&v, index_t t) const

auto	qr (crvec v) const

auto	qr_mut (vec &v) const

mat	create_AB () const

rmat	ABk (rmat AB, index_t t) const

auto	ABk (mat &AB, index_t t) const

crmat	ABk (crmat AB, index_t t) const

auto	AB (crmat AB) const

rmat	Ak (rmat AB, index_t t) const

crmat	Ak (crmat AB, index_t t) const

auto	Ak (mat &AB, index_t t) const

auto	A (crmat AB) const

rmat	Bk (rmat AB, index_t t) const

crmat	Bk (crmat AB, index_t t) const

auto	Bk (mat &AB, index_t t) const

auto	B (crmat AB) const

Public Attributes
length_t	N

std::array< index_t, 4 >	indices

std::array< index_t, 3 >	indices_N

Member Enumeration Documentation

◆ Indices

template<Config Conf>

enum Indices

Enumerator
i_u
i_h
i_c
i_h_N
i_c_N

Definition at line 44 of file ocp-vars.hpp.

Constructor & Destructor Documentation

◆ OCPVariables() [1/2]

template<Config Conf>

OCPVariables	(	const std::array< index_t, 4 > &	sizes,
		const std::array< index_t, 3 > &	sizes_N,
		length_t	N
	)

inline

Parameters

sizes	nx, nu, nh, nc
sizes_N	nx, nh, nc
N	Horizon length

Definition at line 26 of file ocp-vars.hpp.

◆ OCPVariables() [2/2]

template<Config Conf>

OCPVariables ( const TypeErasedControlProblem< config_t > & prob )

inline

Definition at line 37 of file ocp-vars.hpp.

Member Function Documentation

◆ size()

template<Config Conf>

length_t size ( size_t i ) const

inline

Definition at line 54 of file ocp-vars.hpp.

◆ size_N()

template<Config Conf>

length_t size_N ( size_t i ) const

inline

Definition at line 55 of file ocp-vars.hpp.

◆ nx()

template<Config Conf>

length_t nx ( ) const

inline

Definition at line 56 of file ocp-vars.hpp.

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◆ nu()

template<Config Conf>

length_t nu ( ) const

inline

Definition at line 57 of file ocp-vars.hpp.

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◆ nxu()

template<Config Conf>

length_t nxu ( ) const

inline

Definition at line 58 of file ocp-vars.hpp.

◆ nh()

template<Config Conf>

length_t nh ( ) const

inline

Definition at line 59 of file ocp-vars.hpp.

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◆ nc()

template<Config Conf>

length_t nc ( ) const

inline

Definition at line 60 of file ocp-vars.hpp.

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◆ nx_N()

template<Config Conf>

length_t nx_N ( ) const

inline

Definition at line 61 of file ocp-vars.hpp.

◆ nh_N()

template<Config Conf>

length_t nh_N ( ) const

inline

Definition at line 62 of file ocp-vars.hpp.

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◆ nc_N()

template<Config Conf>

length_t nc_N ( ) const

inline

Definition at line 63 of file ocp-vars.hpp.

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◆ create()

template<Config Conf>

vec create ( ) const

inline

Definition at line 65 of file ocp-vars.hpp.

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◆ xk()

template<Config Conf>

auto xk	(	VectorRefLike< config_t > auto &&	v,
		index_t	t
	)		const

inline

Definition at line 66 of file ocp-vars.hpp.

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◆ x()

template<Config Conf>

auto x ( crvec v ) const

inline

Definition at line 69 of file ocp-vars.hpp.

◆ xuk()

template<Config Conf>

auto xuk	(	VectorRefLike< config_t > auto &&	v,
		index_t	t
	)		const

inline

Definition at line 72 of file ocp-vars.hpp.

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◆ uk()

template<Config Conf>

auto uk	(	VectorRefLike< config_t > auto &&	v,
		index_t	t
	)		const

inline

Definition at line 76 of file ocp-vars.hpp.

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◆ u()

template<Config Conf>

auto u ( crvec v ) const

inline

Definition at line 81 of file ocp-vars.hpp.

◆ hk()

template<Config Conf>

auto hk	(	VectorRefLike< config_t > auto &&	v,
		index_t	t
	)		const

inline

Definition at line 84 of file ocp-vars.hpp.

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◆ ck()

template<Config Conf>

auto ck	(	VectorRefLike< config_t > auto &&	v,
		index_t	t
	)		const

inline

Definition at line 89 of file ocp-vars.hpp.

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◆ create_qr()

template<Config Conf>

vec create_qr ( ) const

inline

Definition at line 95 of file ocp-vars.hpp.

◆ qk()

template<Config Conf>

auto qk	(	VectorRefLike< config_t > auto &&	v,
		index_t	t
	)		const

inline

Definition at line 96 of file ocp-vars.hpp.

◆ q()

template<Config Conf>

auto q ( crvec v ) const

inline

Definition at line 100 of file ocp-vars.hpp.

◆ qN_mut()

template<Config Conf>

auto qN_mut ( vec & v ) const

inline

Definition at line 103 of file ocp-vars.hpp.

◆ rk()

template<Config Conf>

auto rk	(	VectorRefLike< config_t > auto &&	v,
		index_t	t
	)		const

inline

Definition at line 106 of file ocp-vars.hpp.

◆ r()

template<Config Conf>

auto r ( crvec v ) const

inline

Definition at line 110 of file ocp-vars.hpp.

◆ qrk()

template<Config Conf>

auto qrk	(	VectorRefLike< config_t > auto &&	v,
		index_t	t
	)		const

inline

Definition at line 113 of file ocp-vars.hpp.

◆ qr()

template<Config Conf>

auto qr ( crvec v ) const

inline

Definition at line 117 of file ocp-vars.hpp.

◆ qr_mut()

template<Config Conf>

auto qr_mut ( vec & v ) const

inline

Definition at line 120 of file ocp-vars.hpp.

◆ create_AB()

template<Config Conf>

mat create_AB ( ) const

inline

Definition at line 124 of file ocp-vars.hpp.

◆ ABk() [1/3]

template<Config Conf>

rmat ABk	(	rmat	AB,
		index_t	t
	)		const

inline

Definition at line 125 of file ocp-vars.hpp.

◆ ABk() [2/3]

template<Config Conf>

auto ABk	(	mat &	AB,
		index_t	t
	)		const

inline

Definition at line 128 of file ocp-vars.hpp.

◆ ABk() [3/3]

template<Config Conf>

crmat ABk	(	crmat	AB,
		index_t	t
	)		const

inline

Definition at line 131 of file ocp-vars.hpp.

◆ AB()

template<Config Conf>

auto AB ( crmat AB ) const

inline

Definition at line 134 of file ocp-vars.hpp.

◆ Ak() [1/3]

template<Config Conf>

rmat Ak	(	rmat	AB,
		index_t	t
	)		const

inline

Definition at line 137 of file ocp-vars.hpp.

◆ Ak() [2/3]

template<Config Conf>

crmat Ak	(	crmat	AB,
		index_t	t
	)		const

inline

Definition at line 138 of file ocp-vars.hpp.

◆ Ak() [3/3]

template<Config Conf>

auto Ak	(	mat &	AB,
		index_t	t
	)		const

inline

Definition at line 141 of file ocp-vars.hpp.

◆ A()

template<Config Conf>

auto A ( crmat AB ) const

inline

Definition at line 142 of file ocp-vars.hpp.

◆ Bk() [1/3]

template<Config Conf>

rmat Bk	(	rmat	AB,
		index_t	t
	)		const

inline

Definition at line 145 of file ocp-vars.hpp.

◆ Bk() [2/3]

template<Config Conf>

crmat Bk	(	crmat	AB,
		index_t	t
	)		const

inline

Definition at line 148 of file ocp-vars.hpp.

◆ Bk() [3/3]

template<Config Conf>

auto Bk	(	mat &	AB,
		index_t	t
	)		const

inline

Definition at line 151 of file ocp-vars.hpp.

◆ B()

template<Config Conf>

auto B ( crmat AB ) const

inline

Definition at line 154 of file ocp-vars.hpp.

Member Data Documentation

◆ N

template<Config Conf>

length_t N

Definition at line 51 of file ocp-vars.hpp.

◆ indices

template<Config Conf>

std::array<index_t, 4> indices

Definition at line 52 of file ocp-vars.hpp.

◆ indices_N

template<Config Conf>

std::array<index_t, 3> indices_N

Definition at line 53 of file ocp-vars.hpp.

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

src/alpaqa/include/alpaqa/inner/directions/panoc-ocp/ocp-vars.hpp

Detailed Description

Public Types

Public Member Functions

Public Attributes

Member Enumeration Documentation

◆ Indices

Constructor & Destructor Documentation

◆ OCPVariables() [1/2]

◆ OCPVariables() [2/2]

Member Function Documentation

◆ size()

◆ size_N()

◆ nx()

◆ nu()

◆ nxu()

◆ nh()

◆ nc()

◆ nx_N()

◆ nh_N()

◆ nc_N()

◆ create()

◆ xk()

◆ x()

◆ xuk()

◆ uk()

◆ u()

◆ hk()

◆ ck()

◆ create_qr()

◆ qk()

◆ q()

◆ qN_mut()

◆ rk()

◆ r()

◆ qrk()

◆ qr()

◆ qr_mut()

◆ create_AB()

◆ ABk() [1/3]

◆ ABk() [2/3]

◆ ABk() [3/3]

◆ AB()

◆ Ak() [1/3]

◆ Ak() [2/3]

◆ Ak() [3/3]

◆ A()

◆ Bk() [1/3]

◆ Bk() [2/3]

◆ Bk() [3/3]

◆ B()

Member Data Documentation

◆ N

◆ indices

◆ indices_N