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

void initialize (OcpBase *ocp_description, bool compute_objective_first_derivatives=false, bool compute_dynamics_first_derivatives=false, bool compute_objective_second_derivatives=false, bool compute_dynamics_second_derivatives=false)
 
const OcpBase * getOcpDescription () const
 
void computeDerivatives ()
 
Eigen::MatrixXd & fx (int time_id)
 
Eigen::MatrixXd & fu (int time_id)
 
const Eigen::MatrixXd & fx (int time_id) const
 
const Eigen::MatrixXd & fu (int time_id) const
 
std::vector< Eigen::MatrixXd > & fxx (int time_id)
 
std::vector< Eigen::MatrixXd > & fxu (int time_id)
 
std::vector< Eigen::MatrixXd > & fuu (int time_id)
 
const std::vector< Eigen::MatrixXd > & fxx (int time_id) const
 
const std::vector< Eigen::MatrixXd > & fxu (int time_id) const
 
const std::vector< Eigen::MatrixXd > & fuu (int time_id) const
 
Eigen::VectorXd & cx (int time_id)
 
Eigen::VectorXd & cu (int time_id)
 
Eigen::MatrixXd & cxx (int time_id)
 
Eigen::MatrixXd & cxu (int time_id)
 
Eigen::MatrixXd & cuu (int time_id)
 
const Eigen::VectorXd & cx (int time_id) const
 
const Eigen::VectorXd & cu (int time_id) const
 
const Eigen::MatrixXd & cxx (int time_id) const
 
const Eigen::MatrixXd & cxu (int time_id) const
 
const Eigen::MatrixXd & cuu (int time_id) const
 

Private Member Functions

void computeDynamicsFirstDerivatives ()
 
void computeDynamicsSecondDerivatives ()
 
void computeObjectiveFirstDerivatives ()
 
void computeObjectiveSecondDerivatives ()
 

Private Attributes

std::vector< Eigen::VectorXd > cx_seq_
 
std::vector< Eigen::VectorXd > cu_seq_
 
std::vector< Eigen::MatrixXd > cxx_seq_
 
std::vector< Eigen::MatrixXd > cxu_seq_
 
std::vector< Eigen::MatrixXd > cuu_seq_
 
std::vector< Eigen::MatrixXd > fx_seq_
 
std::vector< Eigen::MatrixXd > fu_seq_
 
std::vector< std::vector< Eigen::MatrixXd > > fxx_seq_
 
std::vector< std::vector< Eigen::MatrixXd > > fxu_seq_
 
std::vector< std::vector< Eigen::MatrixXd > > fuu_seq_
 
OcpBase * ocp_
 
double h_devs_
 
int tdim_
 
int xdim_
 
int udim_
 
bool is_initialized_
 
bool compute_objective_first_derivatives_
 
bool compute_dynamics_first_derivatives_
 
bool compute_objective_second_derivatives_
 
bool compute_dynamics_second_derivatives_
 
The documentation for this class was generated from the following files: