Workspace for solver SolverProxDDP. More...

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

Inheritance diagram for aligator::WorkspaceTpl< Scalar >:

Collaboration diagram for aligator::WorkspaceTpl< Scalar >:

Public Types
using	StageModel = StageModelTpl<Scalar>
using	Base = WorkspaceBaseTpl<Scalar>
using	VecBool = Eigen::Matrix<bool, Eigen::Dynamic, 1>
using	KnotType = gar::LqrKnotTpl<Scalar>
using	ConstraintSetProduct = ConstraintSetProductTpl<Scalar>
using	BlkJacobianType = BlkMatrix<MatrixXs, -1, 2>
using	allocator_type = ::aligator::polymorphic_allocator

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	WorkspaceTpl ()
	WorkspaceTpl (const allocator_type &alloc)
	WorkspaceTpl (const TrajOptProblemTpl< Scalar > &problem, const allocator_type &alloc={})
	WorkspaceTpl (const WorkspaceTpl &)=delete
WorkspaceTpl &	operator= (const WorkspaceTpl &)=delete
	WorkspaceTpl (WorkspaceTpl &&)=default
WorkspaceTpl &	operator= (WorkspaceTpl &&)=default
void	cycleAppend (const TrajOptProblemTpl< Scalar > &problem, shared_ptr< StageDataTpl< Scalar > > data)
allocator_type	get_allocator () const
Public Member Functions inherited from aligator::WorkspaceBaseTpl< Scalar >
	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
gar::LqrProblemTpl< Scalar >	lqr_problem
std::vector< VectorXs >	shifted_constraints
	Shifted constraints the projection operators should be applied to.
std::vector< BlkJacobianType >	cstr_proj_jacs
std::vector< VecBool >	active_constraints
	Masks for active constraint sets.
std::vector< ConstraintSetProduct >	cstr_product_sets
	Cartesian products of the constraint sets of each stage.
VectorXs	stage_inner_crits
	Subproblem termination criterion for each stage.
VectorXs	stage_cstr_violations
	Constraint violation measures for each stage and constraint.
std::vector< VectorXs >	stage_infeasibilities
	Stagewise infeasibilities.
VectorXs	state_dual_infeas
	Dual infeasibility in the states for each stage of the problem.
VectorXs	control_dual_infeas
	Dual infeasibility in the controls for each stage of the problem.
Scalar	inner_criterion = 0.
	Overall subproblem termination criterion.
std::vector< VectorXs >	dyn_slacks
	Dynamical infeasibility gaps.
std::size_t	nsteps
	Number of steps in the problem.
TrajOptDataTpl< Scalar >	problem_data
	Problem data.
Lagrangian Gradients
std::vector< VectorXs >	Lxs
std::vector< VectorXs >	Lus
std::vector< VectorXs >	Lvs
Trial primal-dual step
std::vector< VectorXs >	trial_vs
std::vector< VectorXs >	trial_lams
std::vector< VectorXs >	trial_us
std::vector< VectorXs >	trial_xs
Path constraint AL multipliers.
std::vector< VectorXs >	lams_plus
std::vector< VectorXs >	vs_plus
std::vector< VectorXs >	vs_pdal
Right-hand sides (with projection) for primal-dual system
std::vector< VectorXs >	cstr_lx_corr
std::vector< VectorXs >	cstr_lu_corr
Primal-dual steps
std::vector< VectorXs >	dxs
std::vector< VectorXs >	dus
std::vector< VectorXs >	dvs
std::vector< VectorXs >	dlams
Previous external/proximal iterates
std::vector< VectorXs >	prev_xs
std::vector< VectorXs >	prev_us
std::vector< VectorXs >	prev_vs
Public Attributes inherited from aligator::WorkspaceBaseTpl< Scalar >
std::size_t	nsteps
	Number of steps in the problem.
TrajOptDataTpl< Scalar >	problem_data
	Problem data.
std::vector< VectorXs >	dyn_slacks
	Dynamical infeasibility gaps.
std::vector< VectorXs >	trial_xs
std::vector< VectorXs >	trial_us

Friends
std::ostream &	operator<< (std::ostream &oss, const WorkspaceTpl &self)

Additional Inherited Members
Protected Attributes inherited from aligator::WorkspaceBaseTpl< Scalar >
bool	m_isInitialized

Detailed Description

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

Workspace for solver SolverProxDDP.

This struct holds data for the Riccati forward and backward passes, the primal-dual steps, problem data...

Definition at line 27 of file workspace.hpp.

Member Typedef Documentation

◆ StageModel

template<typename Scalar>

using aligator::WorkspaceTpl< Scalar >::StageModel = StageModelTpl<Scalar>

Definition at line 29 of file workspace.hpp.

◆ Base

template<typename Scalar>

using aligator::WorkspaceTpl< Scalar >::Base = WorkspaceBaseTpl<Scalar>

Definition at line 30 of file workspace.hpp.

◆ VecBool

template<typename Scalar>

using aligator::WorkspaceTpl< Scalar >::VecBool = Eigen::Matrix<bool, Eigen::Dynamic, 1>

Definition at line 31 of file workspace.hpp.

◆ KnotType

template<typename Scalar>

using aligator::WorkspaceTpl< Scalar >::KnotType = gar::LqrKnotTpl<Scalar>

Definition at line 32 of file workspace.hpp.

◆ ConstraintSetProduct

template<typename Scalar>

using aligator::WorkspaceTpl< Scalar >::ConstraintSetProduct = ConstraintSetProductTpl<Scalar>

Definition at line 33 of file workspace.hpp.

◆ BlkJacobianType

template<typename Scalar>

using aligator::WorkspaceTpl< Scalar >::BlkJacobianType = BlkMatrix<MatrixXs, -1, 2>

Definition at line 34 of file workspace.hpp.

◆ allocator_type

template<typename Scalar>

using aligator::WorkspaceTpl< Scalar >::allocator_type = ::aligator::polymorphic_allocator

Definition at line 40 of file workspace.hpp.

Constructor & Destructor Documentation

◆ WorkspaceTpl() [1/5]

template<typename Scalar>

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl ( )

inline

Definition at line 109 of file workspace.hpp.

◆ WorkspaceTpl() [2/5]

template<typename Scalar>

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl ( const allocator_type & alloc )

inlineexplicit

Definition at line 111 of file workspace.hpp.

◆ WorkspaceTpl() [3/5]

template<typename Scalar>

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl	(	const TrajOptProblemTpl< Scalar > &	problem,
		const allocator_type &	alloc = {} )

explicit

◆ WorkspaceTpl() [4/5]

template<typename Scalar>

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl ( const WorkspaceTpl< Scalar > & )

delete

◆ WorkspaceTpl() [5/5]

template<typename Scalar>

aligator::WorkspaceTpl< Scalar >::WorkspaceTpl ( WorkspaceTpl< Scalar > && )

default

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

aligator::WorkspaceTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ operator=() [1/2]

template<typename Scalar>

WorkspaceTpl & aligator::WorkspaceTpl< Scalar >::operator= ( const WorkspaceTpl< Scalar > & )

delete

◆ operator=() [2/2]

template<typename Scalar>

WorkspaceTpl & aligator::WorkspaceTpl< Scalar >::operator= ( WorkspaceTpl< Scalar > && )

default

◆ cycleAppend()

template<typename Scalar>

void aligator::WorkspaceTpl< Scalar >::cycleAppend	(	const TrajOptProblemTpl< Scalar > &	problem,
		shared_ptr< StageDataTpl< Scalar > >	data )

◆ get_allocator()

template<typename Scalar>

allocator_type aligator::WorkspaceTpl< Scalar >::get_allocator ( ) const

inline

Definition at line 126 of file workspace.hpp.

◆ operator<<

template<typename Scalar>

std::ostream & operator<<	(	std::ostream &	oss,
		const WorkspaceTpl< Scalar > &	self )

friend

Definition at line 128 of file workspace.hpp.

Member Data Documentation

◆ lqr_problem

template<typename Scalar>

gar::LqrProblemTpl<Scalar> aligator::WorkspaceTpl< Scalar >::lqr_problem

Definition at line 42 of file workspace.hpp.

◆ Lxs

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::Lxs

Definition at line 46 of file workspace.hpp.

◆ Lus

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::Lus

Definition at line 47 of file workspace.hpp.

◆ Lvs

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::Lvs

Definition at line 48 of file workspace.hpp.

◆ trial_vs

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::trial_vs

Definition at line 55 of file workspace.hpp.

◆ trial_lams

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::trial_lams

Definition at line 56 of file workspace.hpp.

◆ lams_plus

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::lams_plus

Definition at line 62 of file workspace.hpp.

◆ vs_plus

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::vs_plus

Definition at line 63 of file workspace.hpp.

◆ vs_pdal

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::vs_pdal

Definition at line 64 of file workspace.hpp.

◆ shifted_constraints

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::shifted_constraints

Shifted constraints the projection operators should be applied to.

Definition at line 68 of file workspace.hpp.

◆ cstr_lx_corr

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::cstr_lx_corr

Definition at line 71 of file workspace.hpp.

◆ cstr_lu_corr

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::cstr_lu_corr

Definition at line 72 of file workspace.hpp.

◆ cstr_proj_jacs

template<typename Scalar>

std::vector<BlkJacobianType> aligator::WorkspaceTpl< Scalar >::cstr_proj_jacs

Projected path constraint Jacobians (used to symmetrize the LQ subproblem)

Definition at line 75 of file workspace.hpp.

◆ active_constraints

template<typename Scalar>

std::vector<VecBool> aligator::WorkspaceTpl< Scalar >::active_constraints

Masks for active constraint sets.

Definition at line 77 of file workspace.hpp.

◆ cstr_product_sets

template<typename Scalar>

std::vector<ConstraintSetProduct> aligator::WorkspaceTpl< Scalar >::cstr_product_sets

Cartesian products of the constraint sets of each stage.

Definition at line 79 of file workspace.hpp.

◆ dxs

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::dxs

Definition at line 83 of file workspace.hpp.

◆ dus

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::dus

Definition at line 84 of file workspace.hpp.

◆ dvs

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::dvs

Definition at line 85 of file workspace.hpp.

◆ dlams

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::dlams

Definition at line 86 of file workspace.hpp.

◆ prev_xs

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::prev_xs

Definition at line 91 of file workspace.hpp.

◆ prev_us

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::prev_us

Definition at line 92 of file workspace.hpp.

◆ prev_vs

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::prev_vs

Definition at line 93 of file workspace.hpp.

◆ stage_inner_crits

template<typename Scalar>

VectorXs aligator::WorkspaceTpl< Scalar >::stage_inner_crits

Subproblem termination criterion for each stage.

Definition at line 97 of file workspace.hpp.

◆ stage_cstr_violations

template<typename Scalar>

VectorXs aligator::WorkspaceTpl< Scalar >::stage_cstr_violations

Constraint violation measures for each stage and constraint.

Definition at line 99 of file workspace.hpp.

◆ stage_infeasibilities

template<typename Scalar>

std::vector<VectorXs> aligator::WorkspaceTpl< Scalar >::stage_infeasibilities

Stagewise infeasibilities.

Definition at line 101 of file workspace.hpp.

◆ state_dual_infeas

template<typename Scalar>

VectorXs aligator::WorkspaceTpl< Scalar >::state_dual_infeas

Dual infeasibility in the states for each stage of the problem.

Definition at line 103 of file workspace.hpp.

◆ control_dual_infeas

template<typename Scalar>

VectorXs aligator::WorkspaceTpl< Scalar >::control_dual_infeas

Dual infeasibility in the controls for each stage of the problem.

Definition at line 105 of file workspace.hpp.

◆ inner_criterion

template<typename Scalar>

Scalar aligator::WorkspaceTpl< Scalar >::inner_criterion = 0.

Overall subproblem termination criterion.

Definition at line 107 of file workspace.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.

◆ 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_us

template<typename Scalar>

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

Definition at line 29 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.

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

include/aligator/fwd.hpp
include/aligator/solvers/proxddp/workspace.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ StageModel

◆ Base

◆ VecBool

◆ KnotType

◆ ConstraintSetProduct

◆ BlkJacobianType

◆ allocator_type

Constructor & Destructor Documentation

◆ WorkspaceTpl() [1/5]

◆ WorkspaceTpl() [2/5]

◆ WorkspaceTpl() [3/5]

◆ WorkspaceTpl() [4/5]

◆ WorkspaceTpl() [5/5]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ cycleAppend()

◆ get_allocator()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ lqr_problem

◆ Lxs

◆ Lus

◆ Lvs

◆ trial_vs

◆ trial_lams

◆ lams_plus

◆ vs_plus

◆ vs_pdal

◆ shifted_constraints

◆ cstr_lx_corr

◆ cstr_lu_corr

◆ cstr_proj_jacs

◆ active_constraints

◆ cstr_product_sets

◆ dxs

◆ dus

◆ dvs

◆ dlams

◆ prev_xs

◆ prev_us

◆ prev_vs

◆ stage_inner_crits

◆ stage_cstr_violations

◆ stage_infeasibilities

◆ state_dual_infeas

◆ control_dual_infeas

◆ inner_criterion

◆ dyn_slacks

◆ nsteps

◆ problem_data

◆ trial_us

◆ trial_xs