Split backward correction. More...

#include <unconstr_split_backward_correction.hpp>

Public Member Functions
	UnconstrSplitBackwardCorrection (const Robot &robot)
	Construct split backward correction. More...

	UnconstrSplitBackwardCorrection ()
	Default constructor. More...

	~UnconstrSplitBackwardCorrection ()
	Destructor. More...

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

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

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

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

void	coarseUpdate (const Eigen::MatrixXd &aux_mat_next, const double dt, const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, const SplitSolution &s, SplitSolution &s_new)
	Coarse updates the split solution of this time stage. More...

void	coarseUpdate (const Eigen::Block< Eigen::MatrixXd > &aux_mat_next, const double dt, const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, const SplitSolution &s, SplitSolution &s_new)
	Coarse updates the split solution of this time stage. More...

void	coarseUpdate (const double dt, const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, const SplitSolution &s, SplitSolution &s_new)
	Coarse updates the split solution of this time stage. Auxiliary matrix is assumed to zero matrix, i.e., terminal stage. More...

const Eigen::Block< const Eigen::MatrixXd >	auxMat () const
	Auxiliary matrix of this time stage. More...

void	backwardCorrectionSerial (const SplitSolution &s_next, const SplitSolution &s_new_next, SplitSolution &s_new)
	Performs the serial part of the backward correction. More...

void	backwardCorrectionParallel (SplitSolution &s_new)
	Performs the parallel part of the backward correction. More...

void	forwardCorrectionSerial (const SplitSolution &s_prev, const SplitSolution &s_new_prev, SplitSolution &s_new)
	Performs the serial part of the forward correction. More...

void	forwardCorrectionParallel (SplitSolution &s_new)
	Performs the parallel part of the forward correction. More...

Static Public Member Functions
static void	computeDirection (const SplitSolution &s, const SplitSolution &s_new, SplitDirection &d)
	Computes the direction from the results of the forward correction. More...

Detailed Description

Split backward correction.

Constructor & Destructor Documentation

◆ UnconstrSplitBackwardCorrection() [1/4]

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

Construct split backward correction.

Parameters

[in] robot Robot model.

◆ UnconstrSplitBackwardCorrection() [2/4]

robotoc::UnconstrSplitBackwardCorrection::UnconstrSplitBackwardCorrection ( )

Default constructor.

◆ ~UnconstrSplitBackwardCorrection()

robotoc::UnconstrSplitBackwardCorrection::~UnconstrSplitBackwardCorrection ( )

Destructor.

◆ UnconstrSplitBackwardCorrection() [3/4]

robotoc::UnconstrSplitBackwardCorrection::UnconstrSplitBackwardCorrection ( const UnconstrSplitBackwardCorrection & )

default

Default copy constructor.

◆ UnconstrSplitBackwardCorrection() [4/4]

robotoc::UnconstrSplitBackwardCorrection::UnconstrSplitBackwardCorrection ( UnconstrSplitBackwardCorrection && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ auxMat()

const Eigen::Block< const Eigen::MatrixXd > robotoc::UnconstrSplitBackwardCorrection::auxMat ( ) const

Auxiliary matrix of this time stage.

Returns: const reference to the auxiliary matrix of this time stage.

◆ backwardCorrectionParallel()

void robotoc::UnconstrSplitBackwardCorrection::backwardCorrectionParallel ( SplitSolution & s_new )

Performs the parallel part of the backward correction.

Parameters

[in,out] s_new Coarse updated split solution of this time stage.

◆ backwardCorrectionSerial()

void robotoc::UnconstrSplitBackwardCorrection::backwardCorrectionSerial	(	const SplitSolution &	s_next,
		const SplitSolution &	s_new_next,
		SplitSolution &	s_new
	)

Performs the serial part of the backward correction.

Parameters

[in]	s_next	Split solution of the next time stage.
[in]	s_new_next	Coarse updated split solution of the next time stage.
[in,out]	s_new	Coarse updated split solution of this time stage.

◆ coarseUpdate() [1/3]

void robotoc::UnconstrSplitBackwardCorrection::coarseUpdate	(	const double	dt,
		const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		const SplitSolution &	s,
		SplitSolution &	s_new
	)

Coarse updates the split solution of this time stage. Auxiliary matrix is assumed to zero matrix, i.e., terminal stage.

Parameters

[in]	dt	Time stage of time stage.
[in,out]	kkt_matrix	Split KKT matrix of this time stage.
[in]	kkt_residual	Split KKT residual of this time stage.
[in]	s	Split solution of this time stage.
[in,out]	s_new	Coarse updated split solution of this time stage.

◆ coarseUpdate() [2/3]

void robotoc::UnconstrSplitBackwardCorrection::coarseUpdate	(	const Eigen::Block< Eigen::MatrixXd > &	aux_mat_next,
		const double	dt,
		const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		const SplitSolution &	s,
		SplitSolution &	s_new
	)

Coarse updates the split solution of this time stage.

Parameters

[in]	aux_mat_next	Auxiliary matrix of the next time stage.
[in]	dt	Time stage of time stage.
[in,out]	kkt_matrix	Split KKT matrix of this time stage.
[in]	kkt_residual	Split KKT residual of this time stage.
[in]	s	Split solution of this time stage.
[in,out]	s_new	Coarse updated split solution of this time stage.

◆ coarseUpdate() [3/3]

void robotoc::UnconstrSplitBackwardCorrection::coarseUpdate	(	const Eigen::MatrixXd &	aux_mat_next,
		const double	dt,
		const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		const SplitSolution &	s,
		SplitSolution &	s_new
	)

Coarse updates the split solution of this time stage.

Parameters

[in]	aux_mat_next	Auxiliary matrix of the next time stage.
[in]	dt	Time stage of time stage.
[in,out]	kkt_matrix	Split KKT matrix of this time stage.
[in]	kkt_residual	Split KKT residual of this time stage.
[in]	s	Split solution of this time stage.
[in,out]	s_new	Coarse updated split solution of this time stage.

◆ computeDirection()

static void robotoc::UnconstrSplitBackwardCorrection::computeDirection	(	const SplitSolution &	s,
		const SplitSolution &	s_new,
		SplitDirection &	d
	)

static

Computes the direction from the results of the forward correction.

Parameters

[in]	s	Split solution of this time stage.
[in]	s_new	Coarse updated split solution of this time stage.
[in,out]	d	Split direction of this time stage.

◆ forwardCorrectionParallel()

void robotoc::UnconstrSplitBackwardCorrection::forwardCorrectionParallel ( SplitSolution & s_new )

Performs the parallel part of the forward correction.

Parameters

[in,out] s_new Coarse updated split solution of this time stage.

◆ forwardCorrectionSerial()

void robotoc::UnconstrSplitBackwardCorrection::forwardCorrectionSerial	(	const SplitSolution &	s_prev,
		const SplitSolution &	s_new_prev,
		SplitSolution &	s_new
	)

Performs the serial part of the forward correction.

Parameters

[in]	s_prev	Split solution of the previous time stage.
[in]	s_new_prev	Coarse updated split solution of the previous time stage.
[in,out]	s_new	Coarse updated split solution of this time stage.

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

UnconstrSplitBackwardCorrection & robotoc::UnconstrSplitBackwardCorrection::operator= ( UnconstrSplitBackwardCorrection && )

defaultnoexcept

Default move assign operator.

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

/github/workspace/include/robotoc/parnmpc/unconstr_split_backward_correction.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ UnconstrSplitBackwardCorrection() [1/4]

◆ UnconstrSplitBackwardCorrection() [2/4]

◆ ~UnconstrSplitBackwardCorrection()

◆ UnconstrSplitBackwardCorrection() [3/4]

◆ UnconstrSplitBackwardCorrection() [4/4]

Member Function Documentation

◆ auxMat()

◆ backwardCorrectionParallel()

◆ backwardCorrectionSerial()

◆ coarseUpdate() [1/3]

◆ coarseUpdate() [2/3]

◆ coarseUpdate() [3/3]

◆ computeDirection()

◆ forwardCorrectionParallel()

◆ forwardCorrectionSerial()

◆ operator=() [1/2]

◆ operator=() [2/2]