robotoc::BackwardRiccatiRecursionFactorizer Class Reference

Factorizer of the backward Riccati recursion. More...

#include <backward_riccati_recursion_factorizer.hpp>

Public Types
using	MatrixXdRowMajor = Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >

Public Member Functions
	BackwardRiccatiRecursionFactorizer (const Robot &robot)
	Constructs a factorizer. More...
	BackwardRiccatiRecursionFactorizer ()
	Default constructor. More...
	~BackwardRiccatiRecursionFactorizer ()
	Destructor. More...
	BackwardRiccatiRecursionFactorizer (const BackwardRiccatiRecursionFactorizer &)=default
	Default copy constructor. More...
BackwardRiccatiRecursionFactorizer &	operator= (const BackwardRiccatiRecursionFactorizer &)=default
	Default copy operator. More...
	BackwardRiccatiRecursionFactorizer (BackwardRiccatiRecursionFactorizer &&) noexcept=default
	Default move constructor. More...
BackwardRiccatiRecursionFactorizer &	operator= (BackwardRiccatiRecursionFactorizer &&) noexcept=default
	Default move assign operator. More...
void	factorizeKKTMatrix (const SplitRiccatiFactorization &riccati_next, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual)
	Factorizes the split KKT matrix and split KKT residual of a time stage for the backward Riccati recursion. More...
void	factorizeHamiltonian (const SplitRiccatiFactorization &riccati_next, const SplitKKTMatrix &kkt_matrix, SplitRiccatiFactorization &riccati, const bool has_next_sto_phase) const
	Factorizes the derivatives of the Hamiltonian of a time stage for the backward Riccati recursion. More...
void	factorizeKKTMatrix (const SplitRiccatiFactorization &riccati_next, SplitKKTMatrix &kkt_matrix)
	Factorizes the split KKT matrix and split KKT residual of this impact stage for the backward Riccati recursion. More...
void	factorizeRiccatiFactorization (const SplitRiccatiFactorization &riccati_next, SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, const LQRPolicy &lqr_policy, SplitRiccatiFactorization &riccati)
	Factorizes the Riccati factorization matrix and vector. More...
void	factorizeSTOFactorization (const SplitRiccatiFactorization &riccati_next, const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, const LQRPolicy &lqr_policy, SplitRiccatiFactorization &riccati, const bool has_next_sto_phase)
	Factorizes the STO factorization vector and scalars. More...
void	factorizeRiccatiFactorization (const SplitRiccatiFactorization &riccati_next, const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, SplitRiccatiFactorization &riccati)
	Factorizes the Riccati factorization matrix and vector. More...
void	factorizeSTOFactorization (const SplitRiccatiFactorization &riccati_next, const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, SplitRiccatiFactorization &riccati)
	Factorizes the STO factorization vector and scalars. More...

Detailed Description

Factorizer of the backward Riccati recursion.

Member Typedef Documentation

MatrixXdRowMajor

using robotoc::BackwardRiccatiRecursionFactorizer::MatrixXdRowMajor = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

Constructor & Destructor Documentation

BackwardRiccatiRecursionFactorizer() [1/4]

robotoc::BackwardRiccatiRecursionFactorizer::BackwardRiccatiRecursionFactorizer

(

const Robot &

robot

)

Constructs a factorizer.

Parameters

[in]

robot

Robot model.

BackwardRiccatiRecursionFactorizer() [2/4]

robotoc::BackwardRiccatiRecursionFactorizer::BackwardRiccatiRecursionFactorizer

(

)

Default constructor.

~BackwardRiccatiRecursionFactorizer()

robotoc::BackwardRiccatiRecursionFactorizer::~BackwardRiccatiRecursionFactorizer

(

)

Destructor.

BackwardRiccatiRecursionFactorizer() [3/4]

robotoc::BackwardRiccatiRecursionFactorizer::BackwardRiccatiRecursionFactorizer ( const BackwardRiccatiRecursionFactorizer &  )

default

Default copy constructor.

BackwardRiccatiRecursionFactorizer() [4/4]

robotoc::BackwardRiccatiRecursionFactorizer::BackwardRiccatiRecursionFactorizer ( BackwardRiccatiRecursionFactorizer &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

factorizeHamiltonian()

void robotoc::BackwardRiccatiRecursionFactorizer::factorizeHamiltonian	(	const SplitRiccatiFactorization &	riccati_next,
		const SplitKKTMatrix &	kkt_matrix,
		SplitRiccatiFactorization &	riccati,
		const bool	has_next_sto_phase
	)		const

Factorizes the derivatives of the Hamiltonian of a time stage for the backward Riccati recursion.

Parameters

[in]	riccati_next	Riccati factorization of the next time stage.
[in]	kkt_matrix	Split KKT matrix of this time stage.
[in,out]	riccati	Riccati factorization of time time stage.
[in]	has_next_sto_phase	Flag for wheather this phase has the next phase involving the STO problem.

Note

Please call factorizeKKTMatrix() before this function.

factorizeKKTMatrix() [1/2]

void robotoc::BackwardRiccatiRecursionFactorizer::factorizeKKTMatrix	(	const SplitRiccatiFactorization &	riccati_next,
		SplitKKTMatrix &	kkt_matrix
	)

Factorizes the split KKT matrix and split KKT residual of this impact stage for the backward Riccati recursion.

Parameters

[in]	riccati_next	Riccati factorization of the next time stage.
[in,out]	kkt_matrix	Split KKT matrix of this impact stage.

factorizeKKTMatrix() [2/2]

void robotoc::BackwardRiccatiRecursionFactorizer::factorizeKKTMatrix	(	const SplitRiccatiFactorization &	riccati_next,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)

Factorizes the split KKT matrix and split KKT residual of a time stage for the backward Riccati recursion.

Parameters

[in]	riccati_next	Riccati factorization of the next time stage.
[in,out]	kkt_matrix	Split KKT matrix of this time stage.
[in,out]	kkt_residual	Split KKT residual of this time stage.

factorizeRiccatiFactorization() [1/2]

void robotoc::BackwardRiccatiRecursionFactorizer::factorizeRiccatiFactorization	(	const SplitRiccatiFactorization &	riccati_next,
		const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		SplitRiccatiFactorization &	riccati
	)

Factorizes the Riccati factorization matrix and vector.

Parameters

[in]	riccati_next	Riccati factorization of the next time stage.
[in]	kkt_matrix	Split KKT matrix of this impact stage.
[in]	kkt_residual	Split KKT residual of this impact stage. ImpactBackwardRiccatiRecursionFactorizer::factorizeKKTMatrix().
[out]	riccati	The Riccati factorization of this impact stage.

factorizeRiccatiFactorization() [2/2]

void robotoc::BackwardRiccatiRecursionFactorizer::factorizeRiccatiFactorization	(	const SplitRiccatiFactorization &	riccati_next,
		SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		const LQRPolicy &	lqr_policy,
		SplitRiccatiFactorization &	riccati
	)

Factorizes the Riccati factorization matrix and vector.

Parameters

[in]	riccati_next	Riccati factorization of the next time stage.
[in,out]	kkt_matrix	Split KKT matrix of this time stage.
[in]	kkt_residual	Split KKT residual of this time stage.
[in]	lqr_policy	The state feedback control policy of the LQR subproblem.
[out]	riccati	The Riccati factorization of this time stage.

factorizeSTOFactorization() [1/2]

void robotoc::BackwardRiccatiRecursionFactorizer::factorizeSTOFactorization	(	const SplitRiccatiFactorization &	riccati_next,
		const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		const LQRPolicy &	lqr_policy,
		SplitRiccatiFactorization &	riccati,
		const bool	has_next_sto_phase
	)

Factorizes the STO factorization vector and scalars.

Parameters

[in]	riccati_next	Riccati factorization of the next time stage.
[in]	kkt_matrix	Split KKT matrix of this time stage.
[in]	kkt_residual	Split KKT residual of this time stage.
[in]	lqr_policy	The state feedback control policy of the LQR subproblem.
[in,out]	riccati	The Riccati factorization of this time stage.
[in]	has_next_sto_phase	Flag for wheather this phase has the next phase involving the STO problem.

factorizeSTOFactorization() [2/2]

void robotoc::BackwardRiccatiRecursionFactorizer::factorizeSTOFactorization	(	const SplitRiccatiFactorization &	riccati_next,
		const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		SplitRiccatiFactorization &	riccati
	)

Factorizes the STO factorization vector and scalars.

Parameters

[in]	riccati_next	Riccati factorization of the next time stage.
[in]	kkt_matrix	Split KKT matrix of this time stage.
[in]	kkt_residual	Split KKT residual of this time stage.
[in,out]	riccati	The Riccati factorization of this time stage.

operator=() [1/2]

BackwardRiccatiRecursionFactorizer & robotoc::BackwardRiccatiRecursionFactorizer::operator= ( BackwardRiccatiRecursionFactorizer &&  )

defaultnoexcept

Default move assign operator.

operator=() [2/2]

BackwardRiccatiRecursionFactorizer & robotoc::BackwardRiccatiRecursionFactorizer::operator= ( const BackwardRiccatiRecursionFactorizer &  )

default

Default copy operator.

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

• /github/workspace/include/robotoc/riccati/backward_riccati_recursion_factorizer.hpp