robotoc::UnconstrOCPData Class Reference

Data structure for the optimal control problem of unconstrained rigid-body systems. More...

#include <unconstr_ocp_data.hpp>

Collaboration diagram for robotoc::UnconstrOCPData:

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...
UnconstrDynamics	unconstr_dynamics
	State equation data. More...

Detailed Description

Data structure for the optimal control problem of unconstrained rigid-body systems.

Member Function Documentation

dualFeasibility()

template<int p = 1>

double robotoc::UnconstrOCPData::dualFeasibility ( ) const

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()

double robotoc::UnconstrOCPData::KKTError ( ) const

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>

double robotoc::UnconstrOCPData::primalFeasibility ( ) const

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::UnconstrOCPData::constraints_data

Constraints data.

cost_data

CostFunctionData robotoc::UnconstrOCPData::cost_data

Cost function data.

performance_index

PerformanceIndex robotoc::UnconstrOCPData::performance_index

Performance index.

unconstr_dynamics

UnconstrDynamics robotoc::UnconstrOCPData::unconstr_dynamics

State equation data.

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

• /github/workspace/include/robotoc/unconstr/unconstr_ocp_data.hpp