pdipm.hpp File Reference

#include "Eigen/Core"
#include "robotoc/constraints/constraint_component_data.hpp"
#include "robotoc/constraints/pdipm.hxx"

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Namespaces
namespace	robotoc
namespace	robotoc::pdipm

Functions
void	robotoc::pdipm::setSlackAndDualPositive (const double barrier_param, ConstraintComponentData &data)
	Sets the slack and dual variables positive. More...
void	robotoc::pdipm::computeComplementarySlackness (const double barrier_param, ConstraintComponentData &data)
	Computes the residual in the complementarity slackness between the slack and dual variables. More...
void	robotoc::pdipm::computeComplementarySlackness (const double barrier_param, ConstraintComponentData &data, const int start, const int size)
	Computes the residual in the complementarity slackness between the slack and dual variables. More...
template<int Size>
void	robotoc::pdipm::computeComplementarySlackness (const double barrier_param, ConstraintComponentData &data, const int start)
	Computes the residual in the complementarity slackness between the slack and dual variables. More...
double	robotoc::pdipm::computeComplementarySlackness (const double barrier_param, const double slack, const double dual)
	Computes the residual in the complementarity slackness between the slack and dual variables. More...
void	robotoc::pdipm::computeCondensingCoeffcient (ConstraintComponentData &data)
	Computes the coefficient of the condensing. More...
void	robotoc::pdipm::computeCondensingCoeffcient (ConstraintComponentData &data, const int start, const int size)
	Computes the coefficient of the condensing. More...
template<int Size>
void	robotoc::pdipm::computeCondensingCoeffcient (ConstraintComponentData &data, const int start)
	Computes the coefficient of the condensing. More...
double	robotoc::pdipm::computeCondensingCoeffcient (const double slack, const double dual, const double residual, const double cmpl)
	Computes the residual in the complementarity slackness between the slack and dual variables. More...
double	robotoc::pdipm::fractionToBoundarySlack (const double fraction_rate, const ConstraintComponentData &data)
	Applies the fraction-to-boundary-rule to the directions of the slack variables. More...
double	robotoc::pdipm::fractionToBoundaryDual (const double fraction_rate, const ConstraintComponentData &data)
	Applies the fraction-to-boundary-rule to the directions of the dual variables. More...
double	robotoc::pdipm::fractionToBoundary (const int dim, const double fraction_rate, const Eigen::VectorXd &vec, const Eigen::VectorXd &dvec)
	Applies the fraction-to-boundary-rule. More...
double	robotoc::pdipm::fractionToBoundary (const double fraction_rate, const double var, const double dvar)
	Applies the fraction-to-boundary-rule. More...
void	robotoc::pdipm::computeDualDirection (ConstraintComponentData &data)
	Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack. More...
void	robotoc::pdipm::computeDualDirection (ConstraintComponentData &data, const int start, const int size)
	Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack. More...
template<int Size>
void	robotoc::pdipm::computeDualDirection (ConstraintComponentData &data, const int start)
	Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack. More...
double	robotoc::pdipm::computeDualDirection (const double slack, const double dual, const double dslack, const double cmpl)
	Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack. More...
template<typename VectorType >
double	robotoc::pdipm::logBarrier (const double barrier_param, const Eigen::MatrixBase< VectorType > &vec)
	Computes the log barrier function. More...