aligator::ResultsTpl< _Scalar > Struct Template Reference

Results holder struct. More...

#include <aligator/solvers/proxddp/results.hpp>

Inheritance diagram for aligator::ResultsTpl< _Scalar >:

Collaboration diagram for aligator::ResultsTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = ResultsBaseTpl<Scalar>
Public Types inherited from aligator::ResultsBaseTpl< _Scalar >
using	Scalar = _Scalar

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ResultsTpl ()
	ResultsTpl (const ResultsTpl &)=default
ResultsTpl &	operator= (const ResultsTpl &)=default
	ResultsTpl (ResultsTpl &&)=default
ResultsTpl &	operator= (ResultsTpl &&)=default
	ResultsTpl (const TrajOptProblemTpl< Scalar > &problem)
	Create the results struct from a problem (TrajOptProblemTpl) instance.
void	cycleAppend (const TrajOptProblemTpl< Scalar > &problem, const ConstVectorRef &x0)
Public Member Functions inherited from aligator::ResultsBaseTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ResultsBaseTpl ()
bool	isInitialized () const
decltype(auto)	getFeedforward (std::size_t i)
	Get column expression of the primal-dual feedforward gain.
decltype(auto)	getFeedforward (std::size_t i) const
	Get column expression of the primal-dual feedforward gain.
decltype(auto)	getFeedback (std::size_t i)
	Get expression of the primal-dual feedback gains.
decltype(auto)	getFeedback (std::size_t i) const
	Get expression of the primal-dual feedback gains.
std::vector< MatrixXs >	getCtrlFeedbacks () const
std::vector< VectorXs >	getCtrlFeedforwards () const
std::string	printBase () const
virtual	~ResultsBaseTpl ()=default

Public Attributes
std::vector< VectorXs >	lams
	Problem co-states.
std::vector< VectorXs >	vs
	Path constraint multipliers.
std::size_t	al_iter = 0
	Proximal/AL iteration count.
bool	conv
std::vector< MatrixXs >	gains_
	Riccati gains.
std::size_t	num_iters
std::vector< VectorXs >	us
	Controls.
std::vector< VectorXs >	xs
	States.
Public Attributes inherited from aligator::ResultsBaseTpl< _Scalar >
std::size_t	num_iters = 0
bool	conv = false
Scalar	traj_cost_ = 0.
Scalar	merit_value_ = 0.
Scalar	prim_infeas = 0.
	Overall primal infeasibility measure/constraint violation.
Scalar	dual_infeas = 0.
	Overall dual infeasibility measure.
std::vector< MatrixXs >	gains_
	Riccati gains.
std::vector< VectorXs >	xs
	States.
std::vector< VectorXs >	us
	Controls.

Additional Inherited Members
Protected Attributes inherited from aligator::ResultsBaseTpl< _Scalar >
bool	m_isInitialized

Detailed Description

template<typename _Scalar>
struct aligator::ResultsTpl< _Scalar >

Results holder struct.

Definition at line 11 of file results.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::ResultsTpl< _Scalar >::Scalar = _Scalar

Definition at line 12 of file results.hpp.

Base

template<typename _Scalar>

using aligator::ResultsTpl< _Scalar >::Base = ResultsBaseTpl<Scalar>

Definition at line 14 of file results.hpp.

Constructor & Destructor Documentation

ResultsTpl() [1/4]

template<typename _Scalar>

aligator::ResultsTpl< _Scalar >::ResultsTpl ( )

inlineexplicit

Definition at line 28 of file results.hpp.

ResultsTpl() [2/4]

template<typename _Scalar>

aligator::ResultsTpl< _Scalar >::ResultsTpl ( const ResultsTpl< _Scalar > & )

default

ResultsTpl() [3/4]

template<typename _Scalar>

aligator::ResultsTpl< _Scalar >::ResultsTpl ( ResultsTpl< _Scalar > && )

default

ResultsTpl() [4/4]

template<typename _Scalar>

aligator::ResultsTpl< _Scalar >::ResultsTpl ( const TrajOptProblemTpl< Scalar > & problem )

explicit

Create the results struct from a problem (TrajOptProblemTpl) instance.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::ResultsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

operator=() [1/2]

template<typename _Scalar>

ResultsTpl & aligator::ResultsTpl< _Scalar >::operator= ( const ResultsTpl< _Scalar > & )

default

operator=() [2/2]

template<typename _Scalar>

ResultsTpl & aligator::ResultsTpl< _Scalar >::operator= ( ResultsTpl< _Scalar > && )

default

cycleAppend()

template<typename _Scalar>

void aligator::ResultsTpl< _Scalar >::cycleAppend	(	const TrajOptProblemTpl< Scalar > &	problem,
		const ConstVectorRef &	x0 )

Member Data Documentation

lams

template<typename _Scalar>

std::vector<VectorXs> aligator::ResultsTpl< _Scalar >::lams

Problem co-states.

Definition at line 22 of file results.hpp.

vs

template<typename _Scalar>

std::vector<VectorXs> aligator::ResultsTpl< _Scalar >::vs

Path constraint multipliers.

Definition at line 24 of file results.hpp.

al_iter

template<typename _Scalar>

std::size_t aligator::ResultsTpl< _Scalar >::al_iter = 0

Proximal/AL iteration count.

Definition at line 26 of file results.hpp.

conv

template<typename _Scalar>

bool aligator::ResultsBaseTpl< Scalar >::conv

Definition at line 19 of file results-base.hpp.

gains_

template<typename _Scalar>

std::vector<MatrixXs> aligator::ResultsBaseTpl< Scalar >::gains_

Riccati gains.

Definition at line 29 of file results-base.hpp.

num_iters

template<typename _Scalar>

std::size_t aligator::ResultsBaseTpl< Scalar >::num_iters

Definition at line 18 of file results-base.hpp.

us

template<typename _Scalar>

std::vector<VectorXs> aligator::ResultsBaseTpl< Scalar >::us

Controls.

Definition at line 33 of file results-base.hpp.

xs

template<typename _Scalar>

std::vector<VectorXs> aligator::ResultsBaseTpl< Scalar >::xs

States.

Definition at line 31 of file results-base.hpp.

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

• include/aligator/fwd.hpp
• include/aligator/solvers/proxddp/results.hpp