BoxQPSolutionTpl< _Scalar > Struct Template Reference

Box QP solution. More...

#include <box-qp.hpp>

Public Types
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	BoxQPSolutionTpl ()
	Initialize the QP solution structure.
	BoxQPSolutionTpl (const MatrixXs &Hff_inv, const VectorXs &x, const std::vector< size_t > &free_idx, const std::vector< size_t > &clamped_idx)
	Initialize the QP solution structure.
template<typename NewScalar>
BoxQPSolutionTpl< NewScalar >	cast () const
	Cast the BoxQP solution to a different scalar type.

Public Attributes
std::vector< size_t >	clamped_idx
	Clamped space indexes.
std::vector< size_t >	free_idx
	Free space indexes.
MatrixXs	Hff_inv
	Inverse of the free space Hessian.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
VectorXs	x
	Decision vector.

Detailed Description

template<typename _Scalar>
struct crocoddyl::BoxQPSolutionTpl< _Scalar >

Box QP solution.

It contains the Box QP solution data which consists of

• the inverse of the free space Hessian
• the optimal decision vector
• the indexes for the free space
• the indexes for the clamped (constrained) space

Definition at line 27 of file box-qp.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 31 of file box-qp.hpp.

VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 32 of file box-qp.hpp.

MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 33 of file box-qp.hpp.

Constructor & Destructor Documentation

BoxQPSolutionTpl() [1/2]

template<typename _Scalar>

BoxQPSolutionTpl ( )

inline

Initialize the QP solution structure.

Definition at line 38 of file box-qp.hpp.

BoxQPSolutionTpl() [2/2]

template<typename _Scalar>

BoxQPSolutionTpl ( const MatrixXs & Hff_inv, const VectorXs & x, const std::vector< size_t > & free_idx, const std::vector< size_t > & clamped_idx )

inline

Initialize the QP solution structure.

Parameters

[in]	Hff_inv	Inverse of the free space Hessian
[in]	x	Decision vector
[in]	free_idx	Free space indexes
[in]	clamped_idx	Clamped space indexes

Definition at line 48 of file box-qp.hpp.

Member Function Documentation

cast()

template<typename _Scalar>

template<typename NewScalar>

BoxQPSolutionTpl< NewScalar > cast ( ) const

inline

Cast the BoxQP solution to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar

The new scalar type to cast to.

Returns

BoxQPSolutionTpl<NewScalar> A BoxQP solution with the new scalar type.

Definition at line 63 of file box-qp.hpp.

Member Data Documentation

Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 30 of file box-qp.hpp.

Hff_inv

template<typename _Scalar>

MatrixXs Hff_inv

Inverse of the free space Hessian.

Definition at line 70 of file box-qp.hpp.

x

template<typename _Scalar>

VectorXs x

Decision vector.

Definition at line 71 of file box-qp.hpp.

free_idx

template<typename _Scalar>

std::vector<size_t> free_idx

Free space indexes.

Definition at line 72 of file box-qp.hpp.

clamped_idx

template<typename _Scalar>

std::vector<size_t> clamped_idx

Clamped space indexes.

Definition at line 73 of file box-qp.hpp.

---

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

• /build/source/include/crocoddyl/core/fwd.hpp
• /build/source/include/crocoddyl/core/solvers/box-qp.hpp