Optimal control solvers

Detailed Description

Solvers for optimal control problems.

Classes
struct	cyqlone::qpalm::CyqloneData
struct	cyqlone::qpalm::CyQPALMBackendSettings
struct	cyqlone::qpalm::CyQPALMBackendStats
struct	cyqlone::qpalm::unique_CyQPALMBackend< VL, DefaultOrder >

Enumerations
enum class	cyqlone::qpalm::WarmStartingStrategy { cyqlone::qpalm::WarmStartingStrategy::Zeros , cyqlone::qpalm::WarmStartingStrategy::Copy , cyqlone::qpalm::WarmStartingStrategy::Shift , cyqlone::qpalm::WarmStartingStrategy::ShiftNoInequality }

Functions
template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>
unique_CyQPALMBackend< VL, DefaultOrder >	cyqlone::qpalm::make_cyqpalm_backend (const CyqloneStorage< real_t > &ocp, CyqloneData data, const CyQPALMBackendSettings &settings)
template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>
void	cyqlone::qpalm::update_cyqpalm_backend (CyQPALMBackend< VL, DefaultOrder > &backend, const CyqloneStorage< real_t > &ocp)
template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>
void	cyqlone::qpalm::update_cyqpalm_backend (CyQPALMBackend< VL, DefaultOrder > &backend, const LinearOCPStorage &ocp)

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Class Documentation

cyqlone::qpalm::CyqloneData

struct cyqlone::qpalm::CyqloneData

Class Members
span< const real_t >	initial_variables = {}
span< const real_t >	initial_inequality_multipliers = {}
span< const real_t >	initial_equality_multipliers = {}

cyqlone::qpalm::CyQPALMBackendSettings

struct cyqlone::qpalm::CyQPALMBackendSettings

Class Members
index_t	processors = 8
bool	print_residuals = false
int	print_precision = 3
double	changing_constr_factor = 0.05
index_t	max_update_count = 5
bool	detailed_timings = false
TricyqleParams< real_t >	tricyqle_params {}
uint32_t	spin_count = std::numeric_limits<uint32_t>::max()
WarmStartingStrategy	strategy = WarmStartingStrategy::Copy

cyqlone::qpalm::CyQPALMBackendStats

struct cyqlone::qpalm::CyQPALMBackendStats

Class Members
index_t	num_updates = 0
index_t	rank_updates = 0
index_t	num_factor = 0

Enumeration Type Documentation

WarmStartingStrategy

enum class cyqlone::qpalm::WarmStartingStrategy

strong

#include <cyqlone/qpalm/backends/ocp-backend-cyqlone.hpp>

Enumerator
Zeros
Copy
Shift
ShiftNoInequality

Definition at line 24 of file ocp-backend-cyqlone.hpp.

Function Documentation

make_cyqpalm_backend()

template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>

unique_CyQPALMBackend< VL, DefaultOrder > cyqlone::qpalm::make_cyqpalm_backend	(	const CyqloneStorage< real_t > &	ocp,
		CyqloneData	data,
		const CyQPALMBackendSettings &	settings )

#include <cyqlone/qpalm/backends/ocp-backend-cyqlone.hpp>

Examples

benchmarks/cyqpalm/spring-mass.cpp.

update_cyqpalm_backend() [1/2]

template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>

void cyqlone::qpalm::update_cyqpalm_backend	(	CyQPALMBackend< VL, DefaultOrder > &	backend,
		const CyqloneStorage< real_t > &	ocp )

#include <cyqlone/qpalm/backends/ocp-backend-cyqlone.hpp>

Definition at line 608 of file ocp-backend-cyqlone.tpp.

update_cyqpalm_backend() [2/2]

template<index_t VL, StorageOrder DefaultOrder = StorageOrder::ColMajor>

void cyqlone::qpalm::update_cyqpalm_backend	(	CyQPALMBackend< VL, DefaultOrder > &	backend,
		const LinearOCPStorage &	ocp )

#include <cyqlone/qpalm/backends/ocp-backend-cyqlone.hpp>

Definition at line 614 of file ocp-backend-cyqlone.tpp.