robotoc::UnconstrBackwardRiccatiRecursionFactorizer Class Reference

Factorizer of the backward Riccati recursion of a time stage. More...

#include <unconstr_backward_riccati_recursion_factorizer.hpp>

Public Member Functions
	UnconstrBackwardRiccatiRecursionFactorizer (const Robot &robot)
	Constructs a factorizer. More...
	UnconstrBackwardRiccatiRecursionFactorizer ()
	Default constructor. More...
	~UnconstrBackwardRiccatiRecursionFactorizer ()
	Destructor. More...
	UnconstrBackwardRiccatiRecursionFactorizer (const UnconstrBackwardRiccatiRecursionFactorizer &)=default
	Default copy constructor. More...
UnconstrBackwardRiccatiRecursionFactorizer &	operator= (const UnconstrBackwardRiccatiRecursionFactorizer &)=default
	Default copy operator. More...
	UnconstrBackwardRiccatiRecursionFactorizer (UnconstrBackwardRiccatiRecursionFactorizer &&) noexcept=default
	Default move constructor. More...
UnconstrBackwardRiccatiRecursionFactorizer &	operator= (UnconstrBackwardRiccatiRecursionFactorizer &&) noexcept=default
	Default move assign operator. More...
void	factorizeKKTMatrix (const SplitRiccatiFactorization &riccati_next, const double dt, 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	factorizeRiccatiFactorization (const SplitRiccatiFactorization &riccati_next, SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, const LQRPolicy &lqr_policy, const double dt, SplitRiccatiFactorization &riccati)
	Factorizes the Riccati factorization matrix and vector. More...

Detailed Description

Factorizer of the backward Riccati recursion of a time stage.

Constructor & Destructor Documentation

UnconstrBackwardRiccatiRecursionFactorizer() [1/4]

robotoc::UnconstrBackwardRiccatiRecursionFactorizer::UnconstrBackwardRiccatiRecursionFactorizer

(

const Robot &

robot

)

Constructs a factorizer.

Parameters

[in]

robot

Robot model.

UnconstrBackwardRiccatiRecursionFactorizer() [2/4]

robotoc::UnconstrBackwardRiccatiRecursionFactorizer::UnconstrBackwardRiccatiRecursionFactorizer

(

)

Default constructor.

~UnconstrBackwardRiccatiRecursionFactorizer()

robotoc::UnconstrBackwardRiccatiRecursionFactorizer::~UnconstrBackwardRiccatiRecursionFactorizer

(

)

Destructor.

UnconstrBackwardRiccatiRecursionFactorizer() [3/4]

robotoc::UnconstrBackwardRiccatiRecursionFactorizer::UnconstrBackwardRiccatiRecursionFactorizer ( const UnconstrBackwardRiccatiRecursionFactorizer &  )

default

Default copy constructor.

UnconstrBackwardRiccatiRecursionFactorizer() [4/4]

robotoc::UnconstrBackwardRiccatiRecursionFactorizer::UnconstrBackwardRiccatiRecursionFactorizer ( UnconstrBackwardRiccatiRecursionFactorizer &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

factorizeKKTMatrix()

void robotoc::UnconstrBackwardRiccatiRecursionFactorizer::factorizeKKTMatrix	(	const SplitRiccatiFactorization &	riccati_next,
		const double	dt,
		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]	dt	Time step of this 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()

void robotoc::UnconstrBackwardRiccatiRecursionFactorizer::factorizeRiccatiFactorization	(	const SplitRiccatiFactorization &	riccati_next,
		SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		const LQRPolicy &	lqr_policy,
		const double	dt,
		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.
[in]	dt	Time step of this time stage.
[out]	riccati	The Riccati factorization of this time stage.

operator=() [1/2]

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

default

Default copy operator.

operator=() [2/2]

UnconstrBackwardRiccatiRecursionFactorizer & robotoc::UnconstrBackwardRiccatiRecursionFactorizer::operator= ( UnconstrBackwardRiccatiRecursionFactorizer &&  )

defaultnoexcept

Default move assign operator.

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

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