File hamiltonian.hpp

template<typename Polytope, typename Point, int simdLen>
class Hamiltonian

Public Functions

inline Hamiltonian(Polytope &boundaries)

inline VT hamiltonian(MT x, MT v)

template<typename MatrixType>
inline IVT is_not_nan(MatrixType x)

inline VT feasible(MT x, MT v)

inline void prepare(pts const &xs)

inline pts DK(pts const &x_bar)

inline pts approxDK(pts const &x_bar, MT &nu)

inline pts DU(pts const &x_bar)

inline void move(pts const &y)

inline void project(pts &xs)

inline VT x_norm(pts const &xs, pts const &dx)

Public Members

bool prepared = false

bool forceUpdate = true

Polytope &P

MT hess

bool dUDx_empty = true

MT last_dUdx

CholObj solver

pts xs

MT x

MT dfx

MT lsc

VT fx

int n

int m

int num_runs = 0

Barrier *barrier

std::unique_ptr<WeightedBarrier> weighted_barrier

Opts &options

Private Types

using VT = typename Polytope::VT

using IVT = Eigen::Array<double, Eigen::Dynamic, 1>

using BVT = Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic>

using NT = typename Polytope::NT

using MT = typename Polytope::MT

using SpMat = typename Polytope::SpMat

using Tx = FloatArray<double, simdLen>

using CholObj = PackedChol<simdLen, int>

using Opts = typename Polytope::Opts

using pts = std::vector<MT>

using Barrier = two_sided_barrier<Point>

using WeightedBarrier = weighted_two_sided_barrier<Point>