solver_lqr
Public Member Functions | Private Member Functions | Private Attributes | List of all members
solverlqr::BackwardPass Class Reference
Collaboration diagram for solverlqr::BackwardPass:
Collaboration graph
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Public Member Functions

void initialize (OcpBase *ocp, const SolverLqrSetting &stgs)
 
void optimizeController (const ForwardPass &fpass, const FiniteDifferences &devs, double lambda)
 
const Eigen::Vector2d & dV () const
 
ControlSequence & controlSeq ()
 
const bool & hasDiverged () const
 
const int & divergeIteration () const
 
const ControlSequence & controlSeq () const
 

Private Member Functions

OcpBase & getOcp ()
 
const OcpBase & getOcp () const
 
const SolverLqrSetting & getLqrSetting () const
 
Eigen::MatrixXd tensorContraction (const Eigen::VectorXd &vz, const std::vector< Eigen::MatrixXd > &fzz)
 
void findConstrainedControls (int time_id, const Eigen::MatrixXd &chol_hessian, const Eigen::VectorXd &gradient)
 

Private Attributes

Eigen::VectorXd V_
 
Eigen::Vector2d dV_
 
Eigen::VectorXd Qu_
 
Eigen::VectorXd Qx_
 
Eigen::MatrixXd Qxx_
 
Eigen::MatrixXd VxxR_
 
Eigen::MatrixXd Qxu_
 
Eigen::MatrixXd QxuR_
 
Eigen::MatrixXd Quu_
 
Eigen::MatrixXd QuuR_
 
std::vector< Eigen::VectorXd > Vx_
 
std::vector< Eigen::VectorXd > Vxh_
 
std::vector< Eigen::MatrixXd > Vxx_
 
std::vector< Eigen::MatrixXd > Vxxh_
 
std::vector< Eigen::MatrixXd > Vxhxh_
 
solver::Model model_
 
solver::LinExpr lin_expr_
 
std::vector< solver::Var > vars_
 
solver::DCPQuadExpr quad_expr_
 
OcpBase * ocp_
 
ControlSequence control_seq_
 
const SolverLqrSetting * stgs_
 
Eigen::LLT< Eigen::MatrixXd > llt_
 
bool diverge_flag_
 
bool is_initialized_
 
int diverge_iteration_
 
int tdim_
 
int xdim_
 
int udim_
 
The documentation for this class was generated from the following files: