robotoc::UnconstrRiccatiFactorizer Class Reference

Riccati factorizer for a time stage. More...

#include <unconstr_riccati_factorizer.hpp>

Public Member Functions
	UnconstrRiccatiFactorizer (const Robot &robot)
	Constructs a factorizer. More...
	UnconstrRiccatiFactorizer ()
	Default constructor. More...
	~UnconstrRiccatiFactorizer ()
	Destructor. More...
	UnconstrRiccatiFactorizer (const UnconstrRiccatiFactorizer &)=default
	Default copy constructor. More...
UnconstrRiccatiFactorizer &	operator= (const UnconstrRiccatiFactorizer &)=default
	Default copy operator. More...
	UnconstrRiccatiFactorizer (UnconstrRiccatiFactorizer &&) noexcept=default
	Default move constructor. More...
UnconstrRiccatiFactorizer &	operator= (UnconstrRiccatiFactorizer &&) noexcept=default
	Default move assign operator. More...
void	backwardRiccatiRecursion (const SplitRiccatiFactorization &riccati_next, const double dt, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual, SplitRiccatiFactorization &riccati, LQRPolicy &lqr_policy)
	Performs the backward Riccati recursion. More...
void	forwardRiccatiRecursion (const SplitKKTResidual &kkt_residual, const double dt, const LQRPolicy &lqr_policy, SplitDirection &d, SplitDirection &d_next) const
	Performs forward Riccati recursion and computes state direction. More...

Static Public Member Functions
static void	computeCostateDirection (const SplitRiccatiFactorization &riccati, SplitDirection &d)
	Computes the Newton direction of the costate vector. More...

Detailed Description

Riccati factorizer for a time stage.

Constructor & Destructor Documentation

UnconstrRiccatiFactorizer() [1/4]

robotoc::UnconstrRiccatiFactorizer::UnconstrRiccatiFactorizer

(

const Robot &

robot

)

Constructs a factorizer.

Parameters

[in]

robot

Robot model.

UnconstrRiccatiFactorizer() [2/4]

robotoc::UnconstrRiccatiFactorizer::UnconstrRiccatiFactorizer

(

)

Default constructor.

~UnconstrRiccatiFactorizer()

robotoc::UnconstrRiccatiFactorizer::~UnconstrRiccatiFactorizer

(

)

Destructor.

UnconstrRiccatiFactorizer() [3/4]

robotoc::UnconstrRiccatiFactorizer::UnconstrRiccatiFactorizer ( const UnconstrRiccatiFactorizer &  )

default

Default copy constructor.

UnconstrRiccatiFactorizer() [4/4]

robotoc::UnconstrRiccatiFactorizer::UnconstrRiccatiFactorizer ( UnconstrRiccatiFactorizer &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

backwardRiccatiRecursion()

void robotoc::UnconstrRiccatiFactorizer::backwardRiccatiRecursion	(	const SplitRiccatiFactorization &	riccati_next,
		const double	dt,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual,
		SplitRiccatiFactorization &	riccati,
		LQRPolicy &	lqr_policy
	)

Performs the backward Riccati recursion.

Parameters

[in]	riccati_next	Riccati factorization at the next time stage.
[in]	dt	Time step between the current time stage and the next
[in,out]	kkt_matrix	KKT matrix at the this time stage.
[in,out]	kkt_residual	KKT residual at the this time stage.
[out]	riccati	Riccati factorization at the this time stage.
[out]	lqr_policy	The state feedback control policy of the LQR subproblem.

computeCostateDirection()

static void robotoc::UnconstrRiccatiFactorizer::computeCostateDirection ( const SplitRiccatiFactorization &  riccati, SplitDirection &  d  )

static

Computes the Newton direction of the costate vector.

Parameters

[in]	riccati	Riccati factorization at the current stage.
[in,out]	d	Split direction of the current this time stage.

forwardRiccatiRecursion()

void robotoc::UnconstrRiccatiFactorizer::forwardRiccatiRecursion	(	const SplitKKTResidual &	kkt_residual,
		const double	dt,
		const LQRPolicy &	lqr_policy,
		SplitDirection &	d,
		SplitDirection &	d_next
	)		const

Performs forward Riccati recursion and computes state direction.

Parameters

[in]	kkt_residual	KKT residual at the current time stage.
[in]	dt	Time step between the current time stage and the next
[in]	lqr_policy	The state feedback control policy of the LQR subproblem.
[in,out]	d	Split direction at the current time stage.
[out]	d_next	Split direction at the next time stage.

operator=() [1/2]

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

default

Default copy operator.

operator=() [2/2]

UnconstrRiccatiFactorizer & robotoc::UnconstrRiccatiFactorizer::operator= ( UnconstrRiccatiFactorizer &&  )

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_riccati_factorizer.hpp