crocoddyl  1.3.0
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SolverKKT Class Reference
Inheritance diagram for SolverKKT:
Collaboration diagram for SolverKKT:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SolverKKT (boost::shared_ptr< ShootingProblem > problem)
 
virtual void computeDirection (const bool &recalc=true)
 
virtual const Eigen::Vector2d & expectedImprovement ()
 
const std::vector< Eigen::VectorXd > & get_dus () const
 
const std::vector< Eigen::VectorXd > & get_dxs () const
 
const Eigen::MatrixXd & get_kkt () const
 
const Eigen::VectorXd & get_kktref () const
 
const std::size_t & get_ndx () const
 
const std::size_t & get_nu () const
 
const std::size_t & get_nx () const
 
const Eigen::VectorXd & get_primaldual () const
 
virtual bool solve (const std::vector< Eigen::VectorXd > &init_xs=DEFAULT_VECTOR, const std::vector< Eigen::VectorXd > &init_us=DEFAULT_VECTOR, const std::size_t &maxiter=100, const bool &is_feasible=false, const double &regInit=1e-9)
 
virtual double stoppingCriteria ()
 
virtual double tryStep (const double &steplength=1)
 
- Public Member Functions inherited from SolverAbstract
EIGEN_MAKE_ALIGNED_OPERATOR_NEW SolverAbstract (boost::shared_ptr< ShootingProblem > problem)
 
const double & get_cost () const
 
const Eigen::Vector2d & get_d () const
 
const double & get_dV () const
 
const double & get_dVexp () const
 
const bool & get_is_feasible () const
 
const std::size_t & get_iter () const
 
const boost::shared_ptr< ShootingProblem > & get_problem () const
 
const double & get_steplength () const
 
const double & get_stop () const
 
const double & get_th_acceptstep () const
 
const double & get_th_stop () const
 
const double & get_ureg () const
 
const std::vector< Eigen::VectorXd > & get_us () const
 
const double & get_xreg () const
 
const std::vector< Eigen::VectorXd > & get_xs () const
 
const std::vector< boost::shared_ptr< CallbackAbstract > > & getCallbacks () const
 
void set_th_acceptstep (const double &th_acceptstep)
 
void set_th_stop (const double &th_stop)
 
void set_ureg (const double &ureg)
 
void set_us (const std::vector< Eigen::VectorXd > &us)
 
void set_xreg (const double &xreg)
 
void set_xs (const std::vector< Eigen::VectorXd > &xs)
 
void setCallbacks (const std::vector< boost::shared_ptr< CallbackAbstract > > &callbacks)
 
void setCandidate (const std::vector< Eigen::VectorXd > &xs_warm=DEFAULT_VECTOR, const std::vector< Eigen::VectorXd > &us_warm=DEFAULT_VECTOR, const bool &is_feasible=false)
 

Protected Attributes

double cost_try_
 
double regfactor_
 
double regmax_
 
double regmin_
 
std::vector< Eigen::VectorXd > us_try_
 
std::vector< Eigen::VectorXd > xs_try_
 
- Protected Attributes inherited from SolverAbstract
std::vector< boost::shared_ptr< CallbackAbstract > > callbacks_
 Callback functions.
 
double cost_
 Total cost.
 
Eigen::Vector2d d_
 LQ approximation of the expected improvement.
 
double dV_
 Cost reduction obtained by tryStep.
 
double dVexp_
 Expected cost reduction.
 
bool is_feasible_
 Label that indicates is the iteration is feasible.
 
std::size_t iter_
 Number of iteration performed by the solver.
 
boost::shared_ptr< ShootingProblemproblem_
 optimal control problem
 
double steplength_
 Current applied step-length.
 
double stop_
 Value computed by stoppingCriteria.
 
double th_acceptstep_
 Threshold used for accepting step.
 
double th_stop_
 Tolerance for stopping the algorithm.
 
double ureg_
 Current control regularization values.
 
std::vector< Eigen::VectorXd > us_
 Control trajectory.
 
double xreg_
 Current state regularization value.
 
std::vector< Eigen::VectorXd > xs_
 State trajectory.
 

Detailed Description

Definition at line 20 of file kkt.hpp.


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