conversion.cpp File Reference

#include <cyqlone/conversion.hpp>
#include <batmat/assume.hpp>
#include <guanaqo/blas/hl-blas-interface.hpp>
#include <algorithm>
#include <numeric>

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Namespaces
namespace	cyqlone

Functions
void	cyqlone::reference_to_gradient (const LinearOCPStorage &ocp, std::span< const real_t > ref, std::span< real_t > qr)
	Simply computes the gradient of the quadratic cost \( J(x, u) = \sum_{j=1}^{N-1} \ell_j(x^j, u^j) + \ell_N(x^N) \), with \( \ell_j(x, u) = \tfrac12 \left\| \begin{pmatrix} x - x^j_\text{ref} \\ u - u^j_\text{ref} \end{pmatrix} \right\|_{H_j}^2 \), with the Hessian \( H_j = \begin{pmatrix} Q_j & S_j^\top \\ S_j & R_j \end{pmatrix} \).
void	cyqlone::reference_to_gradient (LinearOCPStorage &ocp, std::span< const real_t > ref)
	Simply computes the gradient of the quadratic cost \( J(x, u) = \sum_{j=1}^{N-1} \ell_j(x^j, u^j) + \ell_N(x^N) \), with \( \ell_j(x, u) = \tfrac12 \left\| \begin{pmatrix} x - x^j_\text{ref} \\ u - u^j_\text{ref} \end{pmatrix} \right\|_{H_j}^2 \), with the Hessian \( H_j = \begin{pmatrix} Q_j & S_j^\top \\ S_j & R_j \end{pmatrix} \).