Inheritance diagram for ilqgames::ILQSolver:

Public Member Functions
	ILQSolver (const std::shared_ptr< Problem > &problem, const SolverParams &params=SolverParams())

virtual std::shared_ptr< SolverLog >	Solve (bool *success=nullptr, Time max_runtime=std::numeric_limits< Time >::infinity())

std::vector< std::vector< QuadraticCostApproximation > > *	Quadraticization ()

std::vector< LinearDynamicsApproximation > *	Linearization ()

Public Member Functions inherited from ilqgames::GameSolver
Problem &	GetProblem ()

Protected Member Functions
bool	ModifyLQStrategies (const std::vector< VectorXf > &delta_xs, const std::vector< std::vector< VectorXf >> &costates, std::vector< Strategy > strategies, OperatingPoint current_operating_point, bool *has_converged)

float	StateDistance (const VectorXf &x1, const VectorXf &x2, const std::vector< Dimension > &dims) const

virtual bool	HasConverged (float current_merit_function_value) const

void	TotalCosts (const OperatingPoint &current_op, std::vector< float > *total_costs) const

bool	CheckArmijoCondition (float current_merit_function_value, float current_stepsize) const

float	MeritFunction (const OperatingPoint &current_op)

float	ExpectedDecrease (const std::vector< Strategy > &strategies, const std::vector< VectorXf > &delta_xs, const std::vector< std::vector< VectorXf >> &costates) const

void	CurrentOperatingPoint (const OperatingPoint &last_operating_point, const std::vector< Strategy > &current_strategies, OperatingPoint *current_operating_point) const

void	ComputeLinearization (const OperatingPoint &op, std::vector< LinearDynamicsApproximation > *linearization)

void	ComputeLinearization (std::vector< LinearDynamicsApproximation > *linearization)

void	ComputeCostQuadraticization (const OperatingPoint &op, std::vector< std::vector< QuadraticCostApproximation >> *q)

Protected Member Functions inherited from ilqgames::GameSolver
	GameSolver (const std::shared_ptr< Problem > &problem, const SolverParams &params)

virtual std::shared_ptr< SolverLog >	CreateNewLog () const

Protected Attributes
std::vector< LinearDynamicsApproximation >	linearization_

std::vector< std::vector< QuadraticCostApproximation > >	cost_quadraticization_

std::vector< std::vector< QuadraticCostApproximation > >	last_cost_quadraticization_

std::unique_ptr< LQSolver >	lq_solver_

float	last_merit_function_value_

float	expected_decrease_

Protected Attributes inherited from ilqgames::GameSolver
const std::shared_ptr< Problem >	problem_

const SolverParams	params_

LoopTimer	timer_

Detailed Description

Definition at line 66 of file ilq_solver.h.

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

/home/travis/build/HJReachability/ilqgames/include/ilqgames/solver/ilq_solver.h
/home/travis/build/HJReachability/ilqgames/src/ilq_solver.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description