cpp_robotics::ALiLQR

#include <al_ilqr.hpp>

Public Types

	Name
enum class	Result

Public Functions

	Name
	ALiLQR(OCPDynamics::SharedPtr dynamics, OCPCost::SharedPtr cost, const OCPConstraintArray & constraints =OCPConstraintArray(), ALConfig config =ALConfig())
	ALiLQR(const OptimalControlProblem & prob, ALConfig config =ALConfig())
Result	generate_trajectory(const Eigen::VectorXd & x0)
const std::vector< Eigen::VectorXd > &	get_input() const
const std::vector< Eigen::VectorXd > &	get_state() const

Public Types Documentation

enum Result

Enumerator	Value	Description
SUCCESS	0
MAX_INNER_ITER_REACHED
MAX_ITER_REACHED
MAX_PENALTY_EXCEEDED
FAILED

Public Functions Documentation

function ALiLQR

inline ALiLQR(
    OCPDynamics::SharedPtr dynamics,
    OCPCost::SharedPtr cost,
    const OCPConstraintArray & constraints =OCPConstraintArray(),
    ALConfig config =ALConfig()
)

function ALiLQR

inline ALiLQR(
    const OptimalControlProblem & prob,
    ALConfig config =ALConfig()
)

function generate_trajectory

inline Result generate_trajectory(
    const Eigen::VectorXd & x0
)

function get_input

inline const std::vector< Eigen::VectorXd > & get_input() const

function get_state

inline const std::vector< Eigen::VectorXd > & get_state() const

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Updated on 2024-05-28 at 06:55:39 +0000