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

void initialize (OcpBase *ocp, const SolverLqrSetting &stgs)
 
void applyController (const StateSequence &nom_state_seq, const ControlSequence &nom_control_seq)
 
const double & newCost () const
 
const bool & hasDiverged () const
 
const double & timestepCost (int time_id) const
 
StateSequence & stateSeq ()
 
ControlSequence & controlSeq ()
 
const StateSequence & stateSeq () const
 
const ControlSequence & controlSeq () const
 

Private Member Functions

OcpBase & getOcp ()
 
const OcpBase & getOcp () const
 
const SolverLqrSetting & getLqrSetting () const
 

Private Attributes

OcpBase * ocp_
 
const SolverLqrSetting * stgs_
 
StateBase dx_
 
StateSequence new_state_seq_
 
ControlSequence new_control_seq_
 
double new_cost_
 
bool has_diverged_
 
Eigen::VectorXd timestep_cost_
 
The documentation for this class was generated from the following files: