solver_lqr
Public Member Functions | Private Attributes | Friends | List of all members
solverlqr::OcpBase Class Referenceabstract

Optimal Control Problem Description Class. More...

#include <OcpDescription.hpp>

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Public Member Functions

void initialize (const SolverLqrSetting &setting)
 
const double & dt () const
 
const int & tdim () const
 
const int & xdim () const
 
const int & udim () const
 
StateSequence & stateSeq ()
 
ControlSequence & controlSeq ()
 
const StateSequence & stateSeq () const
 
const ControlSequence & controlSeq () const
 
const SolverLqrSetting & getLqrSetting () const
 
virtual void configure (const YAML::Node &user_parameters)=0
 
virtual Eigen::MatrixXd processNoiseFilter (int time_id) const
 
virtual Eigen::MatrixXd measurementNoiseFilter (int time_id) const
 
virtual StateBase dynamics (const StateBase &state, const ControlBase &control, int time_id)=0
 
void internal_dynamics (const StateBase &state, const ControlBase &control, StateBase &new_state, int time_id)
 
virtual double objective (const StateBase &state, const ControlBase &control, int time_id, bool is_final_timestep)=0
 

Private Attributes

StateSequence stateseq_
 
ControlSequence controlseq_
 
const SolverLqrSetting * setting_
 

Friends

class Estimator
 
class ForwardPass
 
class BackwardPass
 
class FiniteDifferences
 

Detailed Description

Optimal Control Problem Description Class.

The documentation for this class was generated from the following files: