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robotoc::OCPData Class Reference
A data structure for an optimal control problem. More...
#include <ocp_data.hpp>
Collaboration diagram for robotoc::OCPData:
Public Member Functions | |
| template<int p = 1> | |
| double | primalFeasibility () const |
| Returns the lp norm of the primal feasibility, i.e., the constraint violation. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter. More... | |
| template<int p = 1> | |
| double | dualFeasibility () const |
| Returns the lp norm of the dual feasibility. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter. More... | |
| double | KKTError () const |
| Returns the squared norm of the KKT residual, that is, the primal and dual residual. More... | |
Public Attributes | |
| PerformanceIndex | performance_index |
| Performance index. More... | |
| CostFunctionData | cost_data |
| Cost function data. More... | |
| ConstraintsData | constraints_data |
| Constraints data. More... | |
| StateEquationData | state_equation_data |
| State equation data. More... | |
| ContactDynamicsData | contact_dynamics_data |
| Contact dynamics data. More... | |
| SwitchingConstraintData | switching_constraint_data |
| Switching constraint data. More... | |
Detailed Description
A data structure for an optimal control problem.
Member Function Documentation
◆ dualFeasibility()
template<int p = 1>
|
inline |
Returns the lp norm of the dual feasibility. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter.
- Template Parameters
-
p Index of norm. Default is 1 (l1-norm).
- Returns
- The lp norm of the dual feasibility.
◆ KKTError()
|
inline |
Returns the squared norm of the KKT residual, that is, the primal and dual residual.
- Returns
- The squared norm of the KKT residual.
◆ primalFeasibility()
template<int p = 1>
|
inline |
Returns the lp norm of the primal feasibility, i.e., the constraint violation. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter.
- Template Parameters
-
p Index of norm. Default is 1 (l1-norm).
- Returns
- The lp norm of the primal feasibility.
Member Data Documentation
◆ constraints_data
| ConstraintsData robotoc::OCPData::constraints_data |
Constraints data.
◆ contact_dynamics_data
| ContactDynamicsData robotoc::OCPData::contact_dynamics_data |
Contact dynamics data.
◆ cost_data
| CostFunctionData robotoc::OCPData::cost_data |
Cost function data.
◆ performance_index
| PerformanceIndex robotoc::OCPData::performance_index |
Performance index.
◆ state_equation_data
| StateEquationData robotoc::OCPData::state_equation_data |
State equation data.
◆ switching_constraint_data
| SwitchingConstraintData robotoc::OCPData::switching_constraint_data |
Switching constraint data.
The documentation for this class was generated from the following file:
- /github/workspace/include/robotoc/ocp/ocp_data.hpp
