aligator::WorkspaceBaseTpl< Scalar > Struct Template Reference

Base workspace struct for the algorithms. More...

#include <aligator/solvers/workspace-base.hpp>

Inheritance diagram for aligator::WorkspaceBaseTpl< Scalar >:

Collaboration diagram for aligator::WorkspaceBaseTpl< Scalar >:

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	WorkspaceBaseTpl ()
	WorkspaceBaseTpl (const TrajOptProblemTpl< Scalar > &problem)
	~WorkspaceBaseTpl ()=default
bool	isInitialized () const
void	cycleLeft ()
	Cycle the workspace data to the left.
void	cycleAppend (shared_ptr< StageDataTpl< Scalar > > data)
	Same as cycleLeft(), but add a StageDataTpl to problem_data.

Public Attributes
std::size_t	nsteps
	Number of steps in the problem.
TrajOptDataTpl< Scalar >	problem_data
	Problem data.
std::vector< VectorXs >	dyn_slacks
	Dynamical infeasibility gaps.
Linesearch data
std::vector< VectorXs >	trial_xs
std::vector< VectorXs >	trial_us

Protected Attributes
bool	m_isInitialized

Detailed Description

template<typename Scalar>
struct aligator::WorkspaceBaseTpl< Scalar >

Base workspace struct for the algorithms.

Definition at line 13 of file workspace-base.hpp.

Constructor & Destructor Documentation

WorkspaceBaseTpl() [1/2]

template<typename Scalar>

aligator::WorkspaceBaseTpl< Scalar >::WorkspaceBaseTpl ( )

inline

Definition at line 35 of file workspace-base.hpp.

WorkspaceBaseTpl() [2/2]

template<typename Scalar>

aligator::WorkspaceBaseTpl< Scalar >::WorkspaceBaseTpl ( const TrajOptProblemTpl< Scalar > & problem )

explicit

Definition at line 62 of file workspace-base.hpp.

~WorkspaceBaseTpl()

template<typename Scalar>

aligator::WorkspaceBaseTpl< Scalar >::~WorkspaceBaseTpl ( )

default

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

aligator::WorkspaceBaseTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

isInitialized()

template<typename Scalar>

bool aligator::WorkspaceBaseTpl< Scalar >::isInitialized ( ) const

inline

Definition at line 43 of file workspace-base.hpp.

cycleLeft()

template<typename Scalar>

void aligator::WorkspaceBaseTpl< Scalar >::cycleLeft

(

)

Cycle the workspace data to the left.

Useful in model-predictive control (MPC) applications.

Definition at line 70 of file workspace-base.hpp.

cycleAppend()

template<typename Scalar>

void aligator::WorkspaceBaseTpl< Scalar >::cycleAppend ( shared_ptr< StageDataTpl< Scalar > > data )

inline

Same as cycleLeft(), but add a StageDataTpl to problem_data.

The implementation pushes back on top of the vector of StageDataTpl, rotates left, then pops the first element back out.

Definition at line 52 of file workspace-base.hpp.

Member Data Documentation

m_isInitialized

template<typename Scalar>

bool aligator::WorkspaceBaseTpl< Scalar >::m_isInitialized

protected

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

nsteps

template<typename Scalar>

std::size_t aligator::WorkspaceBaseTpl< Scalar >::nsteps

Number of steps in the problem.

Definition at line 22 of file workspace-base.hpp.

problem_data

template<typename Scalar>

TrajOptDataTpl<Scalar> aligator::WorkspaceBaseTpl< Scalar >::problem_data

Problem data.

Definition at line 24 of file workspace-base.hpp.

trial_xs

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceBaseTpl< Scalar >::trial_xs

Definition at line 28 of file workspace-base.hpp.

trial_us

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceBaseTpl< Scalar >::trial_us

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

dyn_slacks

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceBaseTpl< Scalar >::dyn_slacks

Dynamical infeasibility gaps.

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

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

• include/aligator/fwd.hpp
• include/aligator/solvers/workspace-base.hpp