robotoc::UnconstrKKTMatrixInverter Class Reference

Schur complement for SplitKKTMatrix for UnconstrParNMPC. More...

#include <unconstr_kkt_matrix_inverter.hpp>

Public Member Functions
	UnconstrKKTMatrixInverter (const Robot &robot)
	Construct a Schur complement. More...
	UnconstrKKTMatrixInverter ()
	Default constructor. More...
	~UnconstrKKTMatrixInverter ()
	Destructor. More...
	UnconstrKKTMatrixInverter (const UnconstrKKTMatrixInverter &)=default
	Default copy constructor. More...
UnconstrKKTMatrixInverter &	operator= (const UnconstrKKTMatrixInverter &)=default
	Default copy operator. More...
	UnconstrKKTMatrixInverter (UnconstrKKTMatrixInverter &&) noexcept=default
	Default move constructor. More...
UnconstrKKTMatrixInverter &	operator= (UnconstrKKTMatrixInverter &&) noexcept=default
	Default move assign operator. More...
template<typename MatrixType1 , typename MatrixType2 >
void	invert (const double dt, const Eigen::MatrixBase< MatrixType1 > &H, const Eigen::MatrixBase< MatrixType2 > &KKT_mat_inv)
	Computes the inverse of the split KKT matrix of the time stage. More...

Detailed Description

Schur complement for SplitKKTMatrix for UnconstrParNMPC.

Constructor & Destructor Documentation

UnconstrKKTMatrixInverter() [1/4]

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

inline

Construct a Schur complement.

Parameters

[in]

robot

Robot model.

UnconstrKKTMatrixInverter() [2/4]

robotoc::UnconstrKKTMatrixInverter::UnconstrKKTMatrixInverter ( )

inline

Default constructor.

~UnconstrKKTMatrixInverter()

robotoc::UnconstrKKTMatrixInverter::~UnconstrKKTMatrixInverter ( )

inline

Destructor.

UnconstrKKTMatrixInverter() [3/4]

robotoc::UnconstrKKTMatrixInverter::UnconstrKKTMatrixInverter ( const UnconstrKKTMatrixInverter &  )

default

Default copy constructor.

UnconstrKKTMatrixInverter() [4/4]

robotoc::UnconstrKKTMatrixInverter::UnconstrKKTMatrixInverter ( UnconstrKKTMatrixInverter &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

invert()

template<typename MatrixType1 , typename MatrixType2 >

void robotoc::UnconstrKKTMatrixInverter::invert ( const double  dt, const Eigen::MatrixBase< MatrixType1 > &  H, const Eigen::MatrixBase< MatrixType2 > &  KKT_mat_inv  )

inline

Computes the inverse of the split KKT matrix of the time stage.

Parameters

[in]	dt	Time step of this time stage.
[in]	H	Hessian of the KKT matrix.
[in,out]	KKT_mat_inv	Inverse of the split KKT matrix.

operator=() [1/2]

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

default

Default copy operator.

operator=() [2/2]

UnconstrKKTMatrixInverter & robotoc::UnconstrKKTMatrixInverter::operator= ( UnconstrKKTMatrixInverter &&  )

defaultnoexcept

Default move assign operator.

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

• /github/workspace/include/robotoc/parnmpc/unconstr_kkt_matrix_inverter.hpp
• /github/workspace/include/robotoc/parnmpc/unconstr_kkt_matrix_inverter.hxx