SolverBoxDDP Class Reference

Inheritance diagram for SolverBoxDDP:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SolverBoxDDP (std::shared_ptr< ShootingProblem > problem)
virtual void	allocateData ()
virtual void	computeGains (const std::size_t t)
virtual void	forwardPass (const double steplength)
const std::vector< Eigen::MatrixXd > &	get_Quu_inv () const
virtual void	resizeData ()

Protected Attributes
std::vector< Eigen::VectorXd >	du_lb_
std::vector< Eigen::VectorXd >	du_ub_
BoxQP	qp_
std::vector< Eigen::MatrixXd >	Quu_inv_

Detailed Description

Definition at line 17 of file box-ddp.hpp.

Constructor & Destructor Documentation

SolverBoxDDP()

SolverBoxDDP ( std::shared_ptr< ShootingProblem >  problem )

explicit

Definition at line 13 of file box-ddp.cpp.

~SolverBoxDDP()

~SolverBoxDDP ( )

virtual

Definition at line 30 of file box-ddp.cpp.

Member Function Documentation

allocateData()

void allocateData ( )

virtual

Definition at line 49 of file box-ddp.cpp.

computeGains()

void computeGains ( const std::size_t  t )

virtual

Definition at line 67 of file box-ddp.cpp.

forwardPass()

void forwardPass ( const double  steplength )

virtual

Definition at line 112 of file box-ddp.cpp.

resizeData()

void resizeData ( )

virtual

Definition at line 32 of file box-ddp.cpp.

get_Quu_inv()

const std::vector< Eigen::MatrixXd > & get_Quu_inv

(

)

const

Definition at line 171 of file box-ddp.cpp.

Member Data Documentation

qp_

BoxQP qp_

protected

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

Quu_inv_

std::vector<Eigen::MatrixXd> Quu_inv_

protected

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

du_lb_

std::vector<Eigen::VectorXd> du_lb_

protected

Definition at line 34 of file box-ddp.hpp.

du_ub_

std::vector<Eigen::VectorXd> du_ub_

protected

Definition at line 35 of file box-ddp.hpp.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/solvers/box-ddp.hpp
• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/src/core/solvers/box-ddp.cpp