StatefulLQRFactor< Conf > Struct Template Reference

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

Detailed Description

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

Definition at line 38 of file lqr.hpp.

Collaboration diagram for StatefulLQRFactor< Conf >:

Public Types
using	Dim = alpaqa::Dim< config_t >

Public Member Functions
	StatefulLQRFactor (Dim d)
void	factor_masked (auto &&AB, auto &&Q, auto &&R, auto &&S, auto &&R_prod, auto &&S_prod, auto &&q, auto &&r, auto &&u, auto &&J, auto &&K, bool use_cholesky)
void	solve_masked (auto &&AB, auto &&J, rvec Δu_eq, rvec Δx)

Public Attributes
Dim	dim
mat	P {dim.nx, dim.nx}
mat	gain_K {dim.nu * dim.nx, dim.N}
mat	e {dim.nu, dim.N}
vec	s {dim.nx}
vec	c {dim.nx}
vec	y {dim.nx}
vec	t {dim.nu}
vec	R̅_sto {dim.nu * dim.nu}
vec	S̅_sto {dim.nu * dim.nx}
vec	BiJ_sto {dim.nx * dim.nu}
vec	PBiJ_sto {dim.nx * dim.nu}
mat	PA {dim.nx, dim.nx}
real_t	min_rcond = 1

Member Typedef Documentation

Dim

template<Config Conf>

using Dim = alpaqa::Dim<config_t>

Definition at line 41 of file lqr.hpp.

Constructor & Destructor Documentation

StatefulLQRFactor()

template<Config Conf>

StatefulLQRFactor ( Dim  d )

inline

Definition at line 43 of file lqr.hpp.

Member Function Documentation

factor_masked()

template<Config Conf>

void factor_masked ( auto &&  AB, auto &&  Q, auto &&  R, auto &&  S, auto &&  R_prod, auto &&  S_prod, auto &&  q, auto &&  r, auto &&  u, auto &&  J, auto &&  K, bool  use_cholesky  )

inline

Parameters

AB	System matrix A & input matrix B
Q	State cost matrix Q
R	Input cost matrix R
S	Cross cost matrix S
R_prod	Product with input cost matrix R
S_prod	Product with cross cost matrix S
q	Linear state factor q
r	Linear input factor r
u	Fixed inputs u
J	Index set of inactive constraints
K	Index set of active constraints
use_cholesky	Use Cholesky instead of LU solver

Definition at line 59 of file lqr.hpp.

solve_masked()

template<Config Conf>

void solve_masked ( auto &&  AB, auto &&  J, rvec  Δu_eq, rvec  Δx  )

inline

Definition at line 158 of file lqr.hpp.

Member Data Documentation

dim

template<Config Conf>

Dim dim

Definition at line 44 of file lqr.hpp.

P

template<Config Conf>

mat P {dim.nx, dim.nx}

Definition at line 45 of file lqr.hpp.

gain_K

template<Config Conf>

mat gain_K {dim.nu * dim.nx, dim.N}

Definition at line 46 of file lqr.hpp.

e

template<Config Conf>

mat e {dim.nu, dim.N}

Definition at line 47 of file lqr.hpp.

s

template<Config Conf>

vec s {dim.nx}

Definition at line 48 of file lqr.hpp.

c

template<Config Conf>

vec c {dim.nx}

Definition at line 49 of file lqr.hpp.

y

template<Config Conf>

vec y {dim.nx}

Definition at line 50 of file lqr.hpp.

t

template<Config Conf>

vec t {dim.nu}

Definition at line 51 of file lqr.hpp.

R̅_sto

template<Config Conf>

vec R̅_sto {dim.nu * dim.nu}

Definition at line 52 of file lqr.hpp.

S̅_sto

template<Config Conf>

vec S̅_sto {dim.nu * dim.nx}

Definition at line 53 of file lqr.hpp.

BiJ_sto

template<Config Conf>

vec BiJ_sto {dim.nx * dim.nu}

Definition at line 54 of file lqr.hpp.

PBiJ_sto

template<Config Conf>

vec PBiJ_sto {dim.nx * dim.nu}

Definition at line 55 of file lqr.hpp.

PA

template<Config Conf>

mat PA {dim.nx, dim.nx}

Definition at line 56 of file lqr.hpp.

min_rcond

template<Config Conf>

real_t min_rcond = 1

Definition at line 57 of file lqr.hpp.

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

• src/alpaqa/include/alpaqa/inner/directions/panoc-ocp/lqr.hpp