Public Member Functions
void	initialize (const std::string cfg_file, const std::string stgs_vars_yaml="solverlqr_variables")

int &	get (SolverLqrIntParam param)

bool &	get (SolverLqrBoolParam param)

double &	get (SolverLqrDoubleParam param)

YAML::Node &	get (SolverLqrYamlParam param)

std::string &	get (SolverLqrStringParam param)

Eigen::VectorXd &	get (SolverLqrVectorParam param)

const int &	get (SolverLqrIntParam param) const

const bool &	get (SolverLqrBoolParam param) const

const double &	get (SolverLqrDoubleParam param) const

const YAML::Node &	get (SolverLqrYamlParam param) const

const std::string &	get (SolverLqrStringParam param) const

const Eigen::VectorXd &	get (SolverLqrVectorParam param) const

Static Public Attributes
static constexpr double	nan = ((double)0x7ff8000000000000)

static constexpr double	inf = ((double)std::numeric_limits<double>::infinity())

Private Attributes
YAML::Node	user_parameters_

Eigen::VectorXd	alpha_

Eigen::VectorXd	initial_state_

Eigen::VectorXd	min_control_limits_

Eigen::VectorXd	max_control_limits_

std::string	cfg_file_

std::string	save_lqr_file_

bool	store_data_

bool	has_control_limits_

bool	use_runge_kutta_integration_

int	verbosity_

int	lqr_max_iters_

int	precision_digits_

int	bpass_regularization_type_

int	time_dimension_

int	state_dimension_

int	control_dimension_

double	cost_change_tolerance_

double	divergence_limit_check_

double	bpass_min_regularization_

double	bpass_max_regularization_

double	control_gradient_tolerance_

double	bpass_initial_regularization_

double	time_step_

double	time_horizon_

double	min_expected_cost_improvement_

double	bpass_mult_regularization_incr_

double	bpass_initial_mult_regularization_incr_

Member Data Documentation

Eigen::VectorXd solverlqr::SolverLqrSetting::alpha_

private

helper vector variables for the solver LQR

std::string solverlqr::SolverLqrSetting::cfg_file_

private

helper string variables for the solver LQR

double solverlqr::SolverLqrSetting::cost_change_tolerance_

private

helper double variables for the solver LQR

bool solverlqr::SolverLqrSetting::store_data_

private

helper boolean variables for the solver LQR

YAML::Node solverlqr::SolverLqrSetting::user_parameters_

private

helper yaml variables for the solver LQR

int solverlqr::SolverLqrSetting::verbosity_

private

helper integer variables for the solver LQR

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

Public Member Functions