Template Class SolverBoxFDDPTpl

• Defined in File box-fddp.hpp

Inheritance Relationships

Base Type

• public crocoddyl::SolverFDDPTpl< _Scalar > (Template Class SolverFDDPTpl)

Derived Type

• public crocoddyl::SolverBoxDDP (Class SolverBoxDDP)

Class Documentation

template<typename _Scalar>
class SolverBoxFDDPTpl : public crocoddyl::SolverFDDPTpl<_Scalar>

Subclassed by crocoddyl::SolverBoxDDP

Public Types

typedef SolverFDDPTpl<Scalar> SolverFDDP

typedef BoxQPTpl<Scalar> BoxQP

typedef BoxQPSolutionTpl<Scalar> BoxQPSolution

typedef ShootingProblemTpl<Scalar> ShootingProblem

typedef ShootingProblem::ActionModelAbstract ActionModelAbstract

typedef ShootingProblem::ActionDataAbstract ActionDataAbstract

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

explicit SolverBoxFDDPTpl(std::shared_ptr<ShootingProblem> problem, const DynamicsSolverType dyn_solver = FeasShoot, const EqualitySolverType term_solver = LuNull)

virtual ~SolverBoxFDDPTpl() = default

virtual void computePolicy(const std::size_t t) override

virtual void forwardPass(const Scalar steplength)

template<typename NewScalar>
SolverBoxFDDPTpl<NewScalar> cast() const

Cast the Box-FDDP solver to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters:

NewScalar – The new scalar type to cast to.

Returns:

SolverBoxFDDPTpl<NewScalar> An Box-FDDP solver with the new scalar type.

const std::vector<MatrixXs> &get_Quu_inv() const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Functions

void allocateData()

virtual void resizeRunningData() override

Protected Attributes

BoxQP qp_

std::vector<MatrixXs> Quu_inv_

std::vector<VectorXs> du_lb_

std::vector<VectorXs> du_ub_

VectorXs xnext_

Next state \(\mathbf{x}^{'}\).