Class SolverBoxDDP

Defined in File box-ddp.hpp

Inheritance Relationships

Base Type

public SolverDDP

Class Documentation

class SolverBoxDDP : public SolverDDP

Public Functions

explicit EIGEN_MAKE_ALIGNED_OPERATOR_NEW SolverBoxDDP(std::shared_ptr<ShootingProblem> problem)

virtual ~SolverBoxDDP()

virtual void allocateData()

virtual void computeGains(const std::size_t t)

virtual void forwardPass(const double steplength)

virtual void resizeData()

const std::vector<Eigen::MatrixXd> &get_Quu_inv() const

Protected Attributes

BoxQP qp_

std::vector<Eigen::MatrixXd> Quu_inv_

std::vector<Eigen::VectorXd> du_lb_

std::vector<Eigen::VectorXd> du_ub_