OCPVariables< Conf > Struct Template Reference

#include <alpaqa/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

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]

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]

OCPVariables ( const TypeErasedControlProblem< config_t > &  prob )

inline

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

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Member Function Documentation

size()

length_t size ( size_t  i ) const

inline

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

size_N()

length_t size_N ( size_t  i ) const

inline

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

nx()

length_t nx ( ) const

inline

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

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nu()

length_t nu ( ) const

inline

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

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nxu()

length_t nxu ( ) const

inline

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

nh()

length_t nh ( ) const

inline

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

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nc()

length_t nc ( ) const

inline

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

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nx_N()

length_t nx_N ( ) const

inline

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

nh_N()

length_t nh_N ( ) const

inline

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

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nc_N()

length_t nc_N ( ) const

inline

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

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create()

vec create ( ) const

inline

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

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xk()

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()

auto x ( crvec  v ) const

inline

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

xuk()

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()

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()

auto u ( crvec  v ) const

inline

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

hk()

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()

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()

vec create_qr ( ) const

inline

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

qk()

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

inline

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

q()

auto q ( crvec  v ) const

inline

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

qN_mut()

auto qN_mut ( vec &  v ) const

inline

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

rk()

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

inline

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

r()

auto r ( crvec  v ) const

inline

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

qrk()

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

inline

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

qr()

auto qr ( crvec  v ) const

inline

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

qr_mut()

auto qr_mut ( vec &  v ) const

inline

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

create_AB()

mat create_AB ( ) const

inline

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

ABk() [1/3]

rmat ABk ( rmat  AB, index_t  t  ) const

inline

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

ABk() [2/3]

auto ABk ( mat &  AB, index_t  t  ) const

inline

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

ABk() [3/3]

crmat ABk ( crmat  AB, index_t  t  ) const

inline

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

AB()

auto AB ( crmat  AB ) const

inline

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

Ak() [1/3]

rmat Ak ( rmat  AB, index_t  t  ) const

inline

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

Ak() [2/3]

crmat Ak ( crmat  AB, index_t  t  ) const

inline

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

Ak() [3/3]

auto Ak ( mat &  AB, index_t  t  ) const

inline

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

A()

auto A ( crmat  AB ) const

inline

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

Bk() [1/3]

rmat Bk ( rmat  AB, index_t  t  ) const

inline

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

Bk() [2/3]

crmat Bk ( crmat  AB, index_t  t  ) const

inline

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

Bk() [3/3]

auto Bk ( mat &  AB, index_t  t  ) const

inline

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

B()

auto B ( crmat  AB ) const

inline

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

Member Data Documentation

N

length_t N

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

indices

std::array<index_t, 4> indices

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

indices_N

std::array<index_t, 3> indices_N

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

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

• ocp-vars.hpp