robotoc::SplitConstrainedRiccatiFactorization Class Reference

Riccati factorization matrix and vector for the switching constraint. More...

#include <split_constrained_riccati_factorization.hpp>

Public Member Functions
	SplitConstrainedRiccatiFactorization (const Robot &robot)
	Constructs Riccati factorization matrix and vector for the switching constraint. More...
	SplitConstrainedRiccatiFactorization ()
	Default constructor. More...
	~SplitConstrainedRiccatiFactorization ()
	Destructor. More...
	SplitConstrainedRiccatiFactorization (const SplitConstrainedRiccatiFactorization &)=default
	Default copy constructor. More...
SplitConstrainedRiccatiFactorization &	operator= (const SplitConstrainedRiccatiFactorization &)=default
	Default copy operator. More...
	SplitConstrainedRiccatiFactorization (SplitConstrainedRiccatiFactorization &&) noexcept=default
	Default move constructor. More...
SplitConstrainedRiccatiFactorization &	operator= (SplitConstrainedRiccatiFactorization &&) noexcept=default
	Default move assign operator. More...
void	setConstraintDimension (const int dimi=0)
int	dims () const
Eigen::Block< Eigen::MatrixXd >	DGinv ()
const Eigen::Block< const Eigen::MatrixXd >	DGinv () const
Eigen::Block< Eigen::MatrixXd >	S ()
const Eigen::Block< const Eigen::MatrixXd >	S () const
Eigen::Block< Eigen::MatrixXd >	Sinv ()
const Eigen::Block< const Eigen::MatrixXd >	Sinv () const
Eigen::Block< Eigen::MatrixXd >	SinvDGinv ()
const Eigen::Block< const Eigen::MatrixXd >	SinvDGinv () const
bool	isApprox (const SplitConstrainedRiccatiFactorization &other) const
bool	hasNaN () const
void	disp (std::ostream &os) const
	Displays the split constrained Riccati factorization onto a ostream. More...

Public Attributes
Eigen::MatrixXd	Ginv
Eigen::MatrixXd	DtM
Eigen::MatrixXd	KtDtM

Friends
std::ostream &	operator<< (std::ostream &os, const SplitConstrainedRiccatiFactorization &c_riccati)

Detailed Description

Riccati factorization matrix and vector for the switching constraint.

Constructor & Destructor Documentation

SplitConstrainedRiccatiFactorization() [1/4]

robotoc::SplitConstrainedRiccatiFactorization::SplitConstrainedRiccatiFactorization ( const Robot &  robot )

inline

Constructs Riccati factorization matrix and vector for the switching constraint.

Parameters

[in]

robot

Robot model.

SplitConstrainedRiccatiFactorization() [2/4]

robotoc::SplitConstrainedRiccatiFactorization::SplitConstrainedRiccatiFactorization ( )

inline

Default constructor.

~SplitConstrainedRiccatiFactorization()

robotoc::SplitConstrainedRiccatiFactorization::~SplitConstrainedRiccatiFactorization ( )

inline

Destructor.

SplitConstrainedRiccatiFactorization() [3/4]

robotoc::SplitConstrainedRiccatiFactorization::SplitConstrainedRiccatiFactorization ( const SplitConstrainedRiccatiFactorization &  )

default

Default copy constructor.

SplitConstrainedRiccatiFactorization() [4/4]

robotoc::SplitConstrainedRiccatiFactorization::SplitConstrainedRiccatiFactorization ( SplitConstrainedRiccatiFactorization &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

DGinv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitConstrainedRiccatiFactorization::DGinv ( )

inline

DGinv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitConstrainedRiccatiFactorization::DGinv ( ) const

inline

dims()

int robotoc::SplitConstrainedRiccatiFactorization::dims ( ) const

inline

disp()

void robotoc::SplitConstrainedRiccatiFactorization::disp

(

std::ostream &

os

)

const

Displays the split constrained Riccati factorization onto a ostream.

hasNaN()

bool robotoc::SplitConstrainedRiccatiFactorization::hasNaN ( ) const

inline

isApprox()

bool robotoc::SplitConstrainedRiccatiFactorization::isApprox ( const SplitConstrainedRiccatiFactorization &  other ) const

inline

operator=() [1/2]

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

default

Default copy operator.

operator=() [2/2]

SplitConstrainedRiccatiFactorization & robotoc::SplitConstrainedRiccatiFactorization::operator= ( SplitConstrainedRiccatiFactorization &&  )

defaultnoexcept

Default move assign operator.

S() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitConstrainedRiccatiFactorization::S ( )

inline

S() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitConstrainedRiccatiFactorization::S ( ) const

inline

setConstraintDimension()

void robotoc::SplitConstrainedRiccatiFactorization::setConstraintDimension ( const int  dimi = 0 )

inline

Sinv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitConstrainedRiccatiFactorization::Sinv ( )

inline

Sinv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitConstrainedRiccatiFactorization::Sinv ( ) const

inline

SinvDGinv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitConstrainedRiccatiFactorization::SinvDGinv ( )

inline

SinvDGinv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitConstrainedRiccatiFactorization::SinvDGinv ( ) const

inline

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const SplitConstrainedRiccatiFactorization &  c_riccati  )

friend

Member Data Documentation

DtM

Eigen::MatrixXd robotoc::SplitConstrainedRiccatiFactorization::DtM

Ginv

Eigen::MatrixXd robotoc::SplitConstrainedRiccatiFactorization::Ginv

KtDtM

Eigen::MatrixXd robotoc::SplitConstrainedRiccatiFactorization::KtDtM

---

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

• /github/workspace/include/robotoc/riccati/split_constrained_riccati_factorization.hpp
• /github/workspace/include/robotoc/riccati/split_constrained_riccati_factorization.hxx