Struct FixedPolicy 

pub struct FixedPolicy<T, const NX: usize, const NU: usize> { /* private fields */ }

Contains all pre-computed values for a given problem and value of rho.

Implementations

impl<T, const NX: usize, const NU: usize> FixedPolicy<T, NX, NU>

where T: Scalar + RealField + Copy,

pub fn new( rho: T, iters: usize, A: &SMatrix<T, NX, NX>, B: &SMatrix<T, NX, NU>, Q: &SMatrix<T, NX, NX>, R: &SMatrix<T, NU, NU>, S: &SMatrix<T, NX, NU>, ) -> Result<Self, Error>

Create a new FixedPolicy.

Errors

If the calculated LQR gain is not invertible, or any of the calculated values are not normal.

Trait Implementations

impl<T: Debug, const NX: usize, const NU: usize> Debug for FixedPolicy<T, NX, NU>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<T, const NX: usize, const NU: usize> Policy<T, NX, NU> for FixedPolicy<T, NX, NU>

where T: Scalar + RealField + Copy,

fn update_active(&mut self, _prim_residual: T, _dual_residual: T) -> Option<T>

Updates which policy is active by evaluating the primal and dual residuals.

fn get_active(&self) -> &FixedPolicy<T, NX, NU>

Get a reference to the currently active policy.