Riccati factorization matrix and vector for a time stage. More...

#include <split_riccati_factorization.hpp>

Public Member Functions
	SplitRiccatiFactorization (const Robot &robot)
	Constructs Riccati factorization matrix and vector. More...

	SplitRiccatiFactorization ()
	Default constructor. More...

	~SplitRiccatiFactorization ()
	Destructor. More...

	SplitRiccatiFactorization (const SplitRiccatiFactorization &)=default
	Default copy constructor. More...

SplitRiccatiFactorization &	operator= (const SplitRiccatiFactorization &)=default
	Default copy operator. More...

	SplitRiccatiFactorization (SplitRiccatiFactorization &&) noexcept=default
	Default move constructor. More...

SplitRiccatiFactorization &	operator= (SplitRiccatiFactorization &&) noexcept=default
	Default move assign operator. More...

Eigen::Block< Eigen::MatrixXd >	Pqq ()

const Eigen::Block< const Eigen::MatrixXd >	Pqq () const

Eigen::Block< Eigen::MatrixXd >	Pqv ()

const Eigen::Block< const Eigen::MatrixXd >	Pqv () const

Eigen::Block< Eigen::MatrixXd >	Pvq ()

const Eigen::Block< const Eigen::MatrixXd >	Pvq () const

Eigen::Block< Eigen::MatrixXd >	Pvv ()

const Eigen::Block< const Eigen::MatrixXd >	Pvv () const

Eigen::VectorBlock< Eigen::VectorXd >	sq ()

const Eigen::VectorBlock< const Eigen::VectorXd >	sq () const

Eigen::VectorBlock< Eigen::VectorXd >	sv ()

const Eigen::VectorBlock< const Eigen::VectorXd >	sv () const

void	setConstraintDimension (const int dims=0)

int	dims () const

Eigen::Block< Eigen::MatrixXd >	M ()

const Eigen::Block< const Eigen::MatrixXd >	M () const

Eigen::VectorBlock< Eigen::VectorXd >	m ()

const Eigen::VectorBlock< const Eigen::VectorXd >	m () const

Eigen::VectorBlock< Eigen::VectorXd >	mt ()

const Eigen::VectorBlock< const Eigen::VectorXd >	mt () const

Eigen::VectorBlock< Eigen::VectorXd >	mt_next ()

const Eigen::VectorBlock< const Eigen::VectorXd >	mt_next () const

void	setZero ()

void	setRandom ()

bool	isApprox (const SplitRiccatiFactorization &other) const
	Checks the equivalence of two SplitRiccatiFactorization. More...

bool	hasNaN () const
	Checks this object has at least one NaN. More...

void	disp (std::ostream &os) const
	Displays the split Riccati factorization onto a ostream. More...

Static Public Member Functions
static SplitRiccatiFactorization	Random (const Robot &robot)

Public Attributes
Eigen::MatrixXd	P
	Riccati factorization matrix. Size is 2 * Robot::dimv() x 2 * Robot::dimv(). More...

Eigen::VectorXd	s
	Riccati factorization vector. Size is 2 * Robot::dimv(). More...

Eigen::VectorXd	psi_x
	Riccati factorization vector w.r.t. the switching time. Size is 2 * Robot::dimv(). More...

Eigen::VectorXd	psi_u
	Riccati factorization vector w.r.t. the switching time. Size is Robot::dimu(). More...

Eigen::VectorXd	Psi
	Riccati factorization vector w.r.t. the switching time. Size is 2 * Robot::dimv(). More...

Eigen::VectorXd	phi_x
	Riccati factorization vector w.r.t. the switching time. Size is 2 * Robot::dimv(). More...

Eigen::VectorXd	phi_u
	Riccati factorization vector w.r.t. the switching time. Size is Robot::dimu(). More...

Eigen::VectorXd	Phi
	Riccati factorization vector w.r.t. the switching time. Size is 2 * Robot::dimv(). More...

double	xi
	Riccati factorization w.r.t. the switching time. More...

double	chi
	Riccati factorization w.r.t. the switching time. More...

double	rho
	Riccati factorization w.r.t. the switching time. More...

double	eta
	Riccati factorization w.r.t. the switching time. More...

double	iota
	Riccati factorization w.r.t. the switching time. More...

Friends
std::ostream &	operator<< (std::ostream &os, const SplitRiccatiFactorization &riccati)

Detailed Description

Riccati factorization matrix and vector for a time stage.

Constructor & Destructor Documentation

◆ SplitRiccatiFactorization() [1/4]

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

inline

Constructs Riccati factorization matrix and vector.

Parameters

[in] robot Robot model.

◆ SplitRiccatiFactorization() [2/4]

robotoc::SplitRiccatiFactorization::SplitRiccatiFactorization ( )

inline

Default constructor.

◆ ~SplitRiccatiFactorization()

robotoc::SplitRiccatiFactorization::~SplitRiccatiFactorization ( )

inline

Destructor.

◆ SplitRiccatiFactorization() [3/4]

robotoc::SplitRiccatiFactorization::SplitRiccatiFactorization ( const SplitRiccatiFactorization & )

default

Default copy constructor.

◆ SplitRiccatiFactorization() [4/4]

robotoc::SplitRiccatiFactorization::SplitRiccatiFactorization ( SplitRiccatiFactorization && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ dims()

int robotoc::SplitRiccatiFactorization::dims ( ) const

inline

◆ disp()

void robotoc::SplitRiccatiFactorization::disp ( std::ostream & os ) const

Displays the split Riccati factorization onto a ostream.

◆ hasNaN()

bool robotoc::SplitRiccatiFactorization::hasNaN ( ) const

inline

Checks this object has at least one NaN.

Returns: true if this has at least one NaN. false otherwise.

◆ isApprox()

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

inline

Checks the equivalence of two SplitRiccatiFactorization.

Parameters

[in] other object.

Returns: true if this and other is same. false otherwise.

◆ M() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::M ( )

inline

◆ m() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitRiccatiFactorization::m ( )

inline

◆ M() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::M ( ) const

inline

◆ m() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitRiccatiFactorization::m ( ) const

inline

◆ mt() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitRiccatiFactorization::mt ( )

inline

◆ mt() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitRiccatiFactorization::mt ( ) const

inline

◆ mt_next() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitRiccatiFactorization::mt_next ( )

inline

◆ mt_next() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitRiccatiFactorization::mt_next ( ) const

inline

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

SplitRiccatiFactorization & robotoc::SplitRiccatiFactorization::operator= ( SplitRiccatiFactorization && )

defaultnoexcept

Default move assign operator.

◆ Pqq() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::Pqq ( )

inline

◆ Pqq() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::Pqq ( ) const

inline

◆ Pqv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::Pqv ( )

inline

◆ Pqv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::Pqv ( ) const

inline

◆ Pvq() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::Pvq ( )

inline

◆ Pvq() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::Pvq ( ) const

inline

◆ Pvv() [1/2]

Eigen::Block< Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::Pvv ( )

inline

◆ Pvv() [2/2]

const Eigen::Block< const Eigen::MatrixXd > robotoc::SplitRiccatiFactorization::Pvv ( ) const

inline

◆ Random()

SplitRiccatiFactorization robotoc::SplitRiccatiFactorization::Random ( const Robot & robot )

inlinestatic

◆ setConstraintDimension()

void robotoc::SplitRiccatiFactorization::setConstraintDimension ( const int dims = 0 )

inline

◆ setRandom()

void robotoc::SplitRiccatiFactorization::setRandom ( )

inline

◆ setZero()

void robotoc::SplitRiccatiFactorization::setZero ( )

inline

◆ sq() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitRiccatiFactorization::sq ( )

inline

◆ sq() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitRiccatiFactorization::sq ( ) const

inline

◆ sv() [1/2]

Eigen::VectorBlock< Eigen::VectorXd > robotoc::SplitRiccatiFactorization::sv ( )

inline

◆ sv() [2/2]

const Eigen::VectorBlock< const Eigen::VectorXd > robotoc::SplitRiccatiFactorization::sv ( ) const

inline

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const SplitRiccatiFactorization &	riccati
	)

friend

Member Data Documentation

◆ chi

double robotoc::SplitRiccatiFactorization::chi

Riccati factorization w.r.t. the switching time.

◆ eta

double robotoc::SplitRiccatiFactorization::eta

Riccati factorization w.r.t. the switching time.

◆ iota

double robotoc::SplitRiccatiFactorization::iota

Riccati factorization w.r.t. the switching time.

◆ P

Eigen::MatrixXd robotoc::SplitRiccatiFactorization::P

Riccati factorization matrix. Size is 2 * Robot::dimv() x 2 * Robot::dimv().

◆ Phi

Eigen::VectorXd robotoc::SplitRiccatiFactorization::Phi

Riccati factorization vector w.r.t. the switching time. Size is 2 * Robot::dimv().

◆ phi_u

Eigen::VectorXd robotoc::SplitRiccatiFactorization::phi_u

Riccati factorization vector w.r.t. the switching time. Size is Robot::dimu().

◆ phi_x

Eigen::VectorXd robotoc::SplitRiccatiFactorization::phi_x

Riccati factorization vector w.r.t. the switching time. Size is 2 * Robot::dimv().

◆ Psi

Eigen::VectorXd robotoc::SplitRiccatiFactorization::Psi

Riccati factorization vector w.r.t. the switching time. Size is 2 * Robot::dimv().

◆ psi_u

Eigen::VectorXd robotoc::SplitRiccatiFactorization::psi_u

Riccati factorization vector w.r.t. the switching time. Size is Robot::dimu().

◆ psi_x

Eigen::VectorXd robotoc::SplitRiccatiFactorization::psi_x

Riccati factorization vector w.r.t. the switching time. Size is 2 * Robot::dimv().

◆ rho

double robotoc::SplitRiccatiFactorization::rho

Riccati factorization w.r.t. the switching time.

◆ s

Eigen::VectorXd robotoc::SplitRiccatiFactorization::s

Riccati factorization vector. Size is 2 * Robot::dimv().

◆ xi

double robotoc::SplitRiccatiFactorization::xi

Riccati factorization w.r.t. the switching time.

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

/github/workspace/include/robotoc/riccati/split_riccati_factorization.hpp
/github/workspace/include/robotoc/riccati/split_riccati_factorization.hxx

Public Member Functions

Static Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ SplitRiccatiFactorization() [1/4]

◆ SplitRiccatiFactorization() [2/4]

◆ ~SplitRiccatiFactorization()

◆ SplitRiccatiFactorization() [3/4]

◆ SplitRiccatiFactorization() [4/4]

Member Function Documentation

◆ dims()

◆ disp()

◆ hasNaN()

◆ isApprox()

◆ M() [1/2]

◆ m() [1/2]

◆ M() [2/2]

◆ m() [2/2]

◆ mt() [1/2]

◆ mt() [2/2]

◆ mt_next() [1/2]

◆ mt_next() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Pqq() [1/2]

◆ Pqq() [2/2]

◆ Pqv() [1/2]

◆ Pqv() [2/2]

◆ Pvq() [1/2]

◆ Pvq() [2/2]

◆ Pvv() [1/2]

◆ Pvv() [2/2]

◆ Random()

◆ setConstraintDimension()

◆ setRandom()

◆ setZero()

◆ sq() [1/2]

◆ sq() [2/2]

◆ sv() [1/2]

◆ sv() [2/2]

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ chi

◆ eta

◆ iota

◆ P

◆ Phi

◆ phi_u

◆ phi_x

◆ Psi

◆ psi_u

◆ psi_x

◆ rho

◆ s

◆ xi