robotoc::UnconstrRiccatiRecursion Class Reference

Riccati recursion solver for optimal control problems of unconstrained rigid-body systems. More...

#include <unconstr_riccati_recursion.hpp>

Public Member Functions
	UnconstrRiccatiRecursion (const OCP &ocp)
	Construct a Riccati recursion solver. More...
	UnconstrRiccatiRecursion ()
	Default constructor. More...
	~UnconstrRiccatiRecursion ()=default
	Default destructor. More...
	UnconstrRiccatiRecursion (const UnconstrRiccatiRecursion &)=default
	Default copy constructor. More...
UnconstrRiccatiRecursion &	operator= (const UnconstrRiccatiRecursion &)=default
	Default copy operator. More...
	UnconstrRiccatiRecursion (UnconstrRiccatiRecursion &&) noexcept=default
	Default move constructor. More...
UnconstrRiccatiRecursion &	operator= (UnconstrRiccatiRecursion &&) noexcept=default
	Default move assign operator. More...
void	backwardRiccatiRecursion (KKTMatrix &kkt_matrix, KKTResidual &kkt_residual, UnconstrRiccatiFactorization &factorization)
	Performs the backward Riccati recursion. More...
void	forwardRiccatiRecursion (const KKTResidual &kkt_residual, const UnconstrRiccatiFactorization &factorization, Direction &d) const
	Performs the forward Riccati recursion and computes the direction. More...
const std::vector< LQRPolicy > &	getLQRPolicy () const
	Gets of the LQR policies over the horizon. More...

Detailed Description

Riccati recursion solver for optimal control problems of unconstrained rigid-body systems.

Constructor & Destructor Documentation

UnconstrRiccatiRecursion() [1/4]

robotoc::UnconstrRiccatiRecursion::UnconstrRiccatiRecursion

(

const OCP &

ocp

)

Construct a Riccati recursion solver.

Parameters

[in]

ocp

Optimial control problem.

UnconstrRiccatiRecursion() [2/4]

robotoc::UnconstrRiccatiRecursion::UnconstrRiccatiRecursion

(

)

Default constructor.

~UnconstrRiccatiRecursion()

robotoc::UnconstrRiccatiRecursion::~UnconstrRiccatiRecursion ( )

default

Default destructor.

UnconstrRiccatiRecursion() [3/4]

robotoc::UnconstrRiccatiRecursion::UnconstrRiccatiRecursion ( const UnconstrRiccatiRecursion &  )

default

Default copy constructor.

UnconstrRiccatiRecursion() [4/4]

robotoc::UnconstrRiccatiRecursion::UnconstrRiccatiRecursion ( UnconstrRiccatiRecursion &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

backwardRiccatiRecursion()

void robotoc::UnconstrRiccatiRecursion::backwardRiccatiRecursion	(	KKTMatrix &	kkt_matrix,
		KKTResidual &	kkt_residual,
		UnconstrRiccatiFactorization &	factorization
	)

Performs the backward Riccati recursion.

Parameters

[in,out]	kkt_matrix	KKT matrix.
[in,out]	kkt_residual	KKT residual.
[in,out]	factorization	Riccati factorization.

forwardRiccatiRecursion()

void robotoc::UnconstrRiccatiRecursion::forwardRiccatiRecursion	(	const KKTResidual &	kkt_residual,
		const UnconstrRiccatiFactorization &	factorization,
		Direction &	d
	)		const

Performs the forward Riccati recursion and computes the direction.

Parameters

[in]	kkt_residual	KKT residual.
[in]	factorization	Riccati factorization.
[in,out]	d	Direction.

getLQRPolicy()

const std::vector< LQRPolicy > & robotoc::UnconstrRiccatiRecursion::getLQRPolicy

(

)

const

Gets of the LQR policies over the horizon.

Returns

const reference to the LQR policies.

operator=() [1/2]

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

default

Default copy operator.

operator=() [2/2]

UnconstrRiccatiRecursion & robotoc::UnconstrRiccatiRecursion::operator= ( UnconstrRiccatiRecursion &&  )

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_recursion.hpp