unconstr_backward_riccati_recursion_factorizer.hpp

Go to the documentation of this file.

#ifndef ROBOTOC_UNCONSTR_BACKWARD_RICCATI_RECURSION_FACTORIZER_HPP_
#define ROBOTOC_UNCONSTR_BACKWARD_RICCATI_RECURSION_FACTORIZER_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/core/split_kkt_matrix.hpp"
#include "robotoc/core/split_kkt_residual.hpp"
#include "robotoc/riccati/split_riccati_factorization.hpp"
#include "robotoc/riccati/lqr_policy.hpp"
 
 
namespace robotoc {
 
class UnconstrBackwardRiccatiRecursionFactorizer {
public:
  UnconstrBackwardRiccatiRecursionFactorizer(const Robot& robot);
 
  UnconstrBackwardRiccatiRecursionFactorizer();
 
  ~UnconstrBackwardRiccatiRecursionFactorizer();
 
  UnconstrBackwardRiccatiRecursionFactorizer(
      const UnconstrBackwardRiccatiRecursionFactorizer&) = default;
 
  UnconstrBackwardRiccatiRecursionFactorizer& operator=(
      const UnconstrBackwardRiccatiRecursionFactorizer&) = default;
 
  UnconstrBackwardRiccatiRecursionFactorizer(
      UnconstrBackwardRiccatiRecursionFactorizer&&) noexcept = default;
 
  UnconstrBackwardRiccatiRecursionFactorizer& operator=(
      UnconstrBackwardRiccatiRecursionFactorizer&&) noexcept = default;
 
  void factorizeKKTMatrix(const SplitRiccatiFactorization& riccati_next, 
                          const double dt, SplitKKTMatrix& kkt_matrix,  
                          SplitKKTResidual& kkt_residual);
 
  void factorizeRiccatiFactorization(
      const SplitRiccatiFactorization& riccati_next, 
      SplitKKTMatrix& kkt_matrix, const SplitKKTResidual& kkt_residual, 
      const LQRPolicy& lqr_policy, const double dt, 
      SplitRiccatiFactorization& riccati);
 
private:
  int dimv_;
  Eigen::MatrixXd GK_;
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_UNCONSTR_BACKWARD_RICCATI_RECURSION_FACTORIZER_HPP_