unconstr_riccati_recursion.hpp File Reference

#include <vector>
#include "Eigen/Core"
#include "robotoc/robot/robot.hpp"
#include "robotoc/core/direction.hpp"
#include "robotoc/core/kkt_matrix.hpp"
#include "robotoc/core/kkt_residual.hpp"
#include "robotoc/ocp/ocp.hpp"
#include "robotoc/riccati/unconstr_riccati_factorizer.hpp"
#include "robotoc/riccati/split_riccati_factorization.hpp"
#include "robotoc/riccati/lqr_policy.hpp"

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Classes
class	robotoc::UnconstrRiccatiRecursion
	Riccati recursion solver for optimal control problems of unconstrained rigid-body systems. More...

Namespaces
namespace	robotoc

Typedefs
using	robotoc::UnconstrRiccatiFactorization = std::vector< SplitRiccatiFactorization >
	Riccati factorization matices of the LQR subproblem for the unconstrained optimal control problem. More...