<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>abstract_ddp_solver.cpp</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/src/</path>
    <filename>abstract__ddp__solver_8cpp.html</filename>
    <includes id="abstract__ddp__solver_8h" name="abstract_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/abstract_ddp_solver.h</includes>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>abstract_ddp_solver.h</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/include/exotica_ddp_solver/</path>
    <filename>abstract__ddp__solver_8h.html</filename>
    <class kind="class">exotica::AbstractDDPSolver</class>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>analytic_ddp_solver.cpp</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/src/</path>
    <filename>analytic__ddp__solver_8cpp.html</filename>
    <includes id="analytic__ddp__solver_8h" name="analytic_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/analytic_ddp_solver.h</includes>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>analytic_ddp_solver.h</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/include/exotica_ddp_solver/</path>
    <filename>analytic__ddp__solver_8h.html</filename>
    <includes id="abstract__ddp__solver_8h" name="abstract_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/abstract_ddp_solver.h</includes>
    <class kind="class">exotica::AnalyticDDPSolver</class>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>control_limited_ddp_solver.cpp</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/src/</path>
    <filename>control__limited__ddp__solver_8cpp.html</filename>
    <includes id="control__limited__ddp__solver_8h" name="control_limited_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/control_limited_ddp_solver.h</includes>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>control_limited_ddp_solver.h</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/include/exotica_ddp_solver/</path>
    <filename>control__limited__ddp__solver_8h.html</filename>
    <includes id="abstract__ddp__solver_8h" name="abstract_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/abstract_ddp_solver.h</includes>
    <class kind="class">exotica::ControlLimitedDDPSolver</class>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>control_limited_feasibility_driven_ddp_solver.cpp</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/src/</path>
    <filename>control__limited__feasibility__driven__ddp__solver_8cpp.html</filename>
    <includes id="control__limited__feasibility__driven__ddp__solver_8h" name="control_limited_feasibility_driven_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/control_limited_feasibility_driven_ddp_solver.h</includes>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>control_limited_feasibility_driven_ddp_solver.h</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/include/exotica_ddp_solver/</path>
    <filename>control__limited__feasibility__driven__ddp__solver_8h.html</filename>
    <includes id="feasibility__driven__ddp__solver_8h" name="feasibility_driven_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/feasibility_driven_ddp_solver.h</includes>
    <class kind="class">exotica::ControlLimitedFeasibilityDrivenDDPSolver</class>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>ddp_solver_py.cpp</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/src/</path>
    <filename>ddp__solver__py_8cpp.html</filename>
    <includes id="analytic__ddp__solver_8h" name="analytic_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/analytic_ddp_solver.h</includes>
    <includes id="control__limited__ddp__solver_8h" name="control_limited_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/control_limited_ddp_solver.h</includes>
    <includes id="control__limited__feasibility__driven__ddp__solver_8h" name="control_limited_feasibility_driven_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/control_limited_feasibility_driven_ddp_solver.h</includes>
    <includes id="feasibility__driven__ddp__solver_8h" name="feasibility_driven_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/feasibility_driven_ddp_solver.h</includes>
    <member kind="function">
      <type></type>
      <name>PYBIND11_MODULE</name>
      <anchorfile>ddp__solver__py_8cpp.html</anchorfile>
      <anchor>a8268c8dd9a39ec1ba1f864849289c76d</anchor>
      <arglist>(exotica_ddp_solver_py, module)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>feasibility_driven_ddp_solver.cpp</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/src/</path>
    <filename>feasibility__driven__ddp__solver_8cpp.html</filename>
    <includes id="feasibility__driven__ddp__solver_8h" name="feasibility_driven_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/feasibility_driven_ddp_solver.h</includes>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>feasibility_driven_ddp_solver.h</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/include/exotica_ddp_solver/</path>
    <filename>feasibility__driven__ddp__solver_8h.html</filename>
    <includes id="abstract__ddp__solver_8h" name="abstract_ddp_solver.h" local="no" imported="no">exotica_ddp_solver/abstract_ddp_solver.h</includes>
    <class kind="class">exotica::AbstractFeasibilityDrivenDDPSolver</class>
    <class kind="class">exotica::FeasibilityDrivenDDPSolver</class>
    <namespace>exotica</namespace>
  </compound>
  <compound kind="file">
    <name>test_boxqp_configurations.py</name>
    <path>/tmp/ws/src/exotica/exotations/solvers/exotica_ddp_solver/test/</path>
    <filename>test__boxqp__configurations_8py.html</filename>
    <namespace>test_boxqp_configurations</namespace>
    <member kind="function">
      <type>def</type>
      <name>test_solver</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a971c13d2593ce045698a72b94c481515</anchor>
      <arglist>(use_new_boxqp, use_polynomial_linesearch, use_cholesky)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fig</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a6a37351f69506b98bbe343014d5d01c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a60e9d4923092a6a342838f8ab52dc0ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>name</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a2aa7ca97df35fdf30cf32e4c94092b6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>results</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a8321c4b0a59ab9f05696b68d20b5a3ed</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::AbstractDDPSolver</name>
    <filename>classexotica_1_1AbstractDDPSolver.html</filename>
    <base>exotica::FeedbackMotionSolver</base>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>get_control_cost_evolution</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>afe6ef1a387281591fd24d38d8f4ff358</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::MatrixXd &gt; &amp;</type>
      <name>get_fu</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ab3ccbd0bf27ef5d695c81d90377f5324</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::MatrixXd &gt; &amp;</type>
      <name>get_fx</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a5fa5757a7b9712b14134c765c82c399d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::MatrixXd &gt; &amp;</type>
      <name>get_K</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a2fdf10cbfb4df61e14b750c8bf3ac5ec</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_k</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a7f8c8e9e474c3a945648c8112dfe2d1f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_Qu</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>aeb5334831f9505a9d0f9caae61dd00a1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::MatrixXd &gt; &amp;</type>
      <name>get_Quu</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>acca5a597aa0fa6ce783d69f4ef19fc78</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::MatrixXd &gt; &amp;</type>
      <name>get_Quu_inv</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a2394703fe3d059c096cb291e3c9bc0fc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::MatrixXd &gt; &amp;</type>
      <name>get_Qux</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ab8168ba645efe704d84faca2a898ce43</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_Qx</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a413f96eba295543ff07b569bcfde8346</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::MatrixXd &gt; &amp;</type>
      <name>get_Qxx</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>aceb447c5b189c336dd21e5b212326a6a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>get_regularization_evolution</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a8c6658bd8e90e8ec11ad4b4e7f11a219</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>get_steplength_evolution</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a8314e5a8e88ae15556967ac358406f99</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_U_ref</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a32389f7942c92ba319d6d53060a3b5f9</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_U_try</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>add3aca651337feb00f39e54a1f3e4b77</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_Vx</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a03308ed220ccf326d5441df9ed7a5377</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::MatrixXd &gt; &amp;</type>
      <name>get_Vxx</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a277c12208870fe12d922459d5df6887f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_X_ref</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>aad5f0f2a2a771381fd9e8637f3d19b9a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_X_try</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a88fe4936977dd4c30ef75b977bf7d27f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>GetFeedbackControl</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a61dadd2b1007802a265a26054bb998a2</anchor>
      <arglist>(Eigen::VectorXdRefConst x, int t) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_control_cost_evolution</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a835dc6d0aeae1ae54602831f2e0e3853</anchor>
      <arglist>(const int index, const double cost)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Solve</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a6e2536d6930eceb6e3873634213322c1</anchor>
      <arglist>(Eigen::MatrixXd &amp;solution) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SpecifyProblem</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a564ac4a764ed18b19fa0325caf28480c</anchor>
      <arglist>(PlanningProblemPtr pointer) override</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="pure">
      <type>virtual void</type>
      <name>BackwardPass</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>abe18001393459fefdf08dfc4117b8175</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>DecreaseRegularization</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>addeddc2c59f44ffa5d3501f6ecf99b15</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>ForwardPass</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>aa2cef8a2c850c2e757acc28b40a78709</anchor>
      <arglist>(const double alpha)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>IncreaseRegularization</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a0325476f23c6ddb8d4c7230de26438dc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>alpha_best_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a359e18de48eeef4163ff01214fce6af9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
      <name>alpha_space_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a854867c0f7e60bf5f878fb906c24cf33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>AbstractDDPSolverInitializer</type>
      <name>base_parameters_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a37470b2082a5881ec5519884f3505679</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>control_cost_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a190f7c6e1fac19b6a468a3d4164e162a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>control_cost_evolution_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a61e7917ed88bd8333d9db63c8f99fc30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>control_cost_try_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a6c8828746c775714584059e0899b6672</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>cost_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ab1a9cf8b754207c4399bda4d4da55838</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>cost_prev_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a06d625bf2d6d8e912853b1ac2dd2f95a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>cost_try_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a43c271b16397fd8071e133adb891510c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>dt_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a8abf729c514722a73a0883fb612eb099</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DynamicsSolverPtr</type>
      <name>dynamics_solver_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ad6c647ad94cc6f119e1f6f732c59c984</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>fu_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ae0559698d59362b910075c9f5b0ef2fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>fx_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>abb0baa61a142e92eb89b20a00bc1eada</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>K_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>aaea5117bfb7b911ee9ee0349d4d11a41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>k_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ab1872f4c4a3ba4418dbedcd8a33ee110</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>lambda_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>aae9b6adcc9ff647c2691b71d1bed7dcc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>NDX_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ad97671f945de51079370a4e65625f3cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>NU_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a89e0c6d1d5fbbcacb99c273d85c7bd76</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>NV_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a4ea21d2c08566d4cd99627a6f498662e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>NX_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ac2a10426c6e27e03d85bf81e1383cca1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DynamicTimeIndexedShootingProblemPtr</type>
      <name>prob_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>af2229f8e0b2e292626c832bc69b6e72d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>Qu_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ad61f11c8dfc3707d18322b01f3941045</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Quu_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a0a37da3ffa812354ece8c568bef791aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Quu_inv_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a53e736cc8265fce4495bf0f6e731d49f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Qux_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a2d799cb452238ef589399c424b493516</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>Qx_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a4513e5942eb1ea84feabe255aac22a61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Qxx_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a5a52f9563ba28bbd633fad5d15fd93c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>regularization_evolution_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a1100086361111469a515b3c4ebf33840</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>steplength_evolution_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ae52f394c9027b408abfbd6365382ea23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>T_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a20736eba4be06b1d261ba8b312baa254</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>time_taken_backward_pass_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>aed27f49dc7cf6cee3868811c10f69b10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>time_taken_forward_pass_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a8f6cfdc4c3ea9aca8f54c0da9d86e8de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>U_ref_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ab5d130fc707ce5e14fc73adac1690cc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>U_try_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a70c1eda051e8807dd528a7cc92310026</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>Vx_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ac45e8c74eb50f3020114aa666aade528</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Vxx_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>ad8f3ad67192e6d5d20192d863c91a40d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>X_ref_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>a299fc963102a7315bd0c9c3cbd291b6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>X_try_</name>
      <anchorfile>classexotica_1_1AbstractDDPSolver.html</anchorfile>
      <anchor>aef8495d176c3fc2d40b6d13fc9076f5a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::AbstractFeasibilityDrivenDDPSolver</name>
    <filename>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</filename>
    <base>exotica::AbstractDDPSolver</base>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_fs</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a47e2803c96389cfd5ed6cf26e559a3fc</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_us</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>af8bbcefda367c1740c36f345468573d3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Eigen::VectorXd &gt; &amp;</type>
      <name>get_xs</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ad5e04d1b7a8a2b82356c2e90157604ee</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Solve</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a236c3a4c05042a0d33edb3f270259f18</anchor>
      <arglist>(Eigen::MatrixXd &amp;solution) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SpecifyProblem</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a779e5681d4d3dc1172795b1932f15e3b</anchor>
      <arglist>(PlanningProblemPtr pointer) override</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>AllocateData</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a75750594a79f7674df3ba2396e7ff115</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>BackwardPass</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>acf2c6cea358e6bc4d19967c7444bc7dd</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>BackwardPassFDDP</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>affb139afadaccf71932e3d871c3c4ca0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>CalcDiff</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a58f3ae960c92f6a5c635d1e1a7db485a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>CheckStoppingCriteria</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a9822548116f42add71e16dfa55fa4d87</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>ComputeDirection</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a7de1b04c8050303f2c58d69a2a672046</anchor>
      <arglist>(const bool recalcDiff)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>ComputeGains</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a204207e9e688f532d43e1df7c31533bf</anchor>
      <arglist>(const int t)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>DecreaseRegularization</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>acdb009f1fa59f45e7225363950ed474a</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>const Eigen::Vector2d &amp;</type>
      <name>ExpectedImprovement</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a1beb6682bf2fd27a71cbc32c409a33d9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>ForwardPass</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a1ac82f536d98adcde57fdab25ed33a96</anchor>
      <arglist>(const double steplength)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>IncreaseRegularization</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>af002627cc3b68a55c8d08e8794a10080</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>IsNaN</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a35788a17811a2f862e399f4f5be5651b</anchor>
      <arglist>(const double value)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>SetCandidate</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ac702178c5645ed96d639e1303c0ef7e5</anchor>
      <arglist>(const std::vector&lt; Eigen::VectorXd &gt; &amp;xs_warm, const std::vector&lt; Eigen::VectorXd &gt; &amp;us_warm, const bool is_feasible)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>TryStep</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a0e24016e7bbc9a17e35e8817fcde95c7</anchor>
      <arglist>(const double steplength)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>UpdateExpectedImprovement</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ab4e1878955ca54ff53f19a65dbb109c6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>clamp_to_control_limits_in_forward_pass_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>af06a54b9e49c02a54cfece0b88b97b3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::MatrixXd</type>
      <name>control_limits_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a733bd65ae070d3ad6dac29050931d809</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Vector2d</type>
      <name>d_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a34d1ccc0ef3915c92848f393b2f4b0bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>dg_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a55792ec9b3876cbf839ac633a892fb09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>dq_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a486d93b733f6c162bad462566d2e0986</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>dV_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a00a5c9ed1391fcc5ee5d84e432742889</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>dv_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a79ccae3c8bf807c02eec039970593d23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>dVexp_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a23c49a83b36c07ebb112634ea4e6ef7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>dx_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>afafe3dda18c985f2f69b9eeb7e007d6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>fs_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a13d633105c533a9b13a5bb9451b56725</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
      <name>fTVxx_p_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a03d32bfc82c1f98be4f4dae9800a71fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>FuTVxx_p_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a30501113af80808adc5ae759bae77801</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::MatrixXd</type>
      <name>FxTVxx_p_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a5bce5e00ae332ffcda89f981a277dcad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>initial_regularization_rate_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a456835bc922ff453c03f9a435727f5a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>is_feasible_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>abfbb1142a6a5c1a41694aa1617fca79e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>last_T_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ad81d24eebe59bf0b50937728e84caae8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>NDX_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a1ac76b5847f97bc167feac8a70864c40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::LDLT&lt; Eigen::MatrixXd &gt; &gt;</type>
      <name>Quu_ldlt_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a5f9402802433aba2f69bb80be62cc1a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>Quuk_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a68749bc19bbc4e4c9d275a08b72e364c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Qxu_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a0f7fa411e230b5f2d9f68c90994ded45</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>regfactor_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a7a10f15afa1a8527b41656827c045ae9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>regmax_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a86463f61980aa83ed73c66ef6efe9ba3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>regmin_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a1e7e2dbfcb465550f27cc03b21e985cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>steplength_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>aa97354762762d3939321f44c829fbf37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>stop_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a4297596d240978fc36b45e98df7b30ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>th_acceptnegstep_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a74ac41c0c6948d1acf0a8b0d08517318</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>th_acceptstep_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a9e94e9e0b2102547b89d653463cd74c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>th_grad_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a0d2c228d6bca3a987f887adebc7e6c91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>th_gradient_tolerance_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a63a4ed0517206fd446e24c2a113b7f90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>th_stepdec_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a902c6a705744c2f07b6218cfa532f000</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>th_stepinc_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>abb9cdec2aeda2f2c4ddef5cc6f702b4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>th_stop_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>af9bd53ca359bb3c8e7c790e75bab1d2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ureg_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ae9318632042a1e41bf9214dc94cae5b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>us_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a3747282fa907963965a64797315de57e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>us_try_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ac2475b54499a02cf01fae4260ee1b9a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>was_feasible_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ab01b50b261f158f67ad7e4f9485bc5c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
      <name>xnext_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a2ca833b9429518d6077acaf33450dd19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>xreg_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ae5a9fd37ef69ed99eada2b2edb4a0d65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>xs_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ab97969823fcd23adbfe8aecce0c128ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>xs_try_</name>
      <anchorfile>classexotica_1_1AbstractFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>af37b6450220a84eeddbc5b618ce416c3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::AnalyticDDPSolver</name>
    <filename>classexotica_1_1AnalyticDDPSolver.html</filename>
    <base>exotica::AbstractDDPSolver</base>
    <base>Instantiable&lt; AnalyticDDPSolverInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1AnalyticDDPSolver.html</anchorfile>
      <anchor>ac3bb8d45fd2dd5882e6b2d0f5ca57d3b</anchor>
      <arglist>(const AnalyticDDPSolverInitializer &amp;init) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>BackwardPass</name>
      <anchorfile>classexotica_1_1AnalyticDDPSolver.html</anchorfile>
      <anchor>a53e242d7cdb1ac234e66c75aa5d0fdf0</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::LLT&lt; Eigen::MatrixXd &gt;</type>
      <name>Quu_llt_</name>
      <anchorfile>classexotica_1_1AnalyticDDPSolver.html</anchorfile>
      <anchor>a5a0d4eface12330dd260b5816f2f0cce</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::ControlLimitedDDPSolver</name>
    <filename>classexotica_1_1ControlLimitedDDPSolver.html</filename>
    <base>exotica::AbstractDDPSolver</base>
    <base>Instantiable&lt; ControlLimitedDDPSolverInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1ControlLimitedDDPSolver.html</anchorfile>
      <anchor>aac963f9f278851e66fe7271104648871</anchor>
      <arglist>(const ControlLimitedDDPSolverInitializer &amp;init) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>BackwardPass</name>
      <anchorfile>classexotica_1_1ControlLimitedDDPSolver.html</anchorfile>
      <anchor>ad26c473962153a6dc2dd7a6a35ec93c3</anchor>
      <arglist>() override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::ControlLimitedFeasibilityDrivenDDPSolver</name>
    <filename>classexotica_1_1ControlLimitedFeasibilityDrivenDDPSolver.html</filename>
    <base>exotica::AbstractFeasibilityDrivenDDPSolver</base>
    <base>Instantiable&lt; ControlLimitedFeasibilityDrivenDDPSolverInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1ControlLimitedFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>af4e9a94f8b39f3d42144c8477cd26d87</anchor>
      <arglist>(const ControlLimitedFeasibilityDrivenDDPSolverInitializer &amp;init) override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>AllocateData</name>
      <anchorfile>classexotica_1_1ControlLimitedFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ae42ba5df23e1581ebba4d01716e930b3</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>ComputeGains</name>
      <anchorfile>classexotica_1_1ControlLimitedFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a6976943b699989ef18eb6c7cfd31ccfa</anchor>
      <arglist>(const int t) override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
      <name>du_lb_</name>
      <anchorfile>classexotica_1_1ControlLimitedFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a6680aa54f07c82319c4075e35f4e2cd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
      <name>du_ub_</name>
      <anchorfile>classexotica_1_1ControlLimitedFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a08e879da3f26b4899a5a192373068135</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Quu_inv_</name>
      <anchorfile>classexotica_1_1ControlLimitedFeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>a2a58da90d6b77e449d292b29fbd536de</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>exotica::FeasibilityDrivenDDPSolver</name>
    <filename>classexotica_1_1FeasibilityDrivenDDPSolver.html</filename>
    <base>exotica::AbstractFeasibilityDrivenDDPSolver</base>
    <base>Instantiable&lt; FeasibilityDrivenDDPSolverInitializer &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>Instantiate</name>
      <anchorfile>classexotica_1_1FeasibilityDrivenDDPSolver.html</anchorfile>
      <anchor>ad364787273aa715815bb137e9bec6a56</anchor>
      <arglist>(const FeasibilityDrivenDDPSolverInitializer &amp;init) override</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>exotica</name>
    <filename>namespaceexotica.html</filename>
    <class kind="class">exotica::AbstractDDPSolver</class>
    <class kind="class">exotica::AbstractFeasibilityDrivenDDPSolver</class>
    <class kind="class">exotica::AnalyticDDPSolver</class>
    <class kind="class">exotica::ControlLimitedDDPSolver</class>
    <class kind="class">exotica::ControlLimitedFeasibilityDrivenDDPSolver</class>
    <class kind="class">exotica::FeasibilityDrivenDDPSolver</class>
  </compound>
  <compound kind="namespace">
    <name>test_boxqp_configurations</name>
    <filename>namespacetest__boxqp__configurations.html</filename>
    <member kind="function">
      <type>def</type>
      <name>test_solver</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a971c13d2593ce045698a72b94c481515</anchor>
      <arglist>(use_new_boxqp, use_polynomial_linesearch, use_cholesky)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fig</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a6a37351f69506b98bbe343014d5d01c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>label</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a60e9d4923092a6a342838f8ab52dc0ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>name</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a2aa7ca97df35fdf30cf32e4c94092b6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>results</name>
      <anchorfile>namespacetest__boxqp__configurations.html</anchorfile>
      <anchor>a8321c4b0a59ab9f05696b68d20b5a3ed</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
