unconstr_kkt_matrix_inverter.hpp

Go to the documentation of this file.

#ifndef ROBOTOC_UNCONSTR_KKT_MATRIX_INVERTER_HPP_
#define ROBOTOC_UNCONSTR_KKT_MATRIX_INVERTER_HPP_
 
#include <vector>
 
#include "Eigen/Core"
#include "Eigen/LU"
 
#include "robotoc/robot/robot.hpp"
 
 
namespace robotoc {
 
class UnconstrKKTMatrixInverter {
public:
  UnconstrKKTMatrixInverter(const Robot& robot);
 
  UnconstrKKTMatrixInverter();
 
  ~UnconstrKKTMatrixInverter();
 
  UnconstrKKTMatrixInverter(const UnconstrKKTMatrixInverter&) = default;
 
  UnconstrKKTMatrixInverter& operator=(
      const UnconstrKKTMatrixInverter&) = default;
 
  UnconstrKKTMatrixInverter(UnconstrKKTMatrixInverter&&) noexcept = default;
 
  UnconstrKKTMatrixInverter& operator=(
      UnconstrKKTMatrixInverter&&) noexcept = default;
 
  template <typename MatrixType1, typename MatrixType2>
  void invert(const double dt, const Eigen::MatrixBase<MatrixType1>& H,
              const Eigen::MatrixBase<MatrixType2>& KKT_mat_inv);
 
private:
  Eigen::LLT<Eigen::MatrixXd> llt_H_, llt_S_;
  Eigen::MatrixXd FHinv_, S_;
  int dimv_, dimx_, dimH_, dimkkt_;
 
};
 
} // namespace robotoc 
 
#include "robotoc/parnmpc/unconstr_kkt_matrix_inverter.hxx"
 
#endif // ROBOTOC_UNCONSTR_KKT_MATRIX_INVERTER_HPP_