Equality-coupling wrapper for Schur-complement based solve. More...

#include <equality_coupling.hpp>

Public Member Functions
constexpr	SchurEqualityCoupling (const EqMat &A_in, const SchurFactor &S_inv_in)
	CTOR.

constexpr auto	solve_step (const auto &M_inv, const Var &pz_rhs, const Var &rd, const NuVar &req) const
	solve for pz step

Public Attributes
EqMat	A {}
	member vars

SchurFactor	S_inv
	Schur factor S = (A M^{-1} A^T)^{-1}.

Detailed Description

template<linalg::MatrixContainer EqMat, typename SchurFactor, linalg::VectorContainer Var, linalg::VectorContainer NuVar>
struct convex::SchurEqualityCoupling< EqMat, SchurFactor, Var, NuVar >

Equality-coupling wrapper for Schur-complement based solve.

2x2 saddle system [ M A^T ] [ pz; pnu] = [ hat{r}_d; req ] [ A 0 ]

M block M = F^T H F

Schur complement S = A M^{-1} A^T

Definition at line 49 of file equality_coupling.hpp.

Constructor & Destructor Documentation

◆ SchurEqualityCoupling()

template<linalg::MatrixContainer EqMat, typename SchurFactor , linalg::VectorContainer Var, linalg::VectorContainer NuVar>

constexpr convex::SchurEqualityCoupling< EqMat, SchurFactor, Var, NuVar >::SchurEqualityCoupling	(	const EqMat &	A_in,
		const SchurFactor &	S_inv_in
	)

inlineexplicitconstexpr

CTOR.

Parameters

A	(eq mat)
S_inv	(schur factor)

Definition at line 56 of file equality_coupling.hpp.

Member Function Documentation

◆ solve_step()

template<linalg::MatrixContainer EqMat, typename SchurFactor , linalg::VectorContainer Var, linalg::VectorContainer NuVar>

constexpr auto convex::SchurEqualityCoupling< EqMat, SchurFactor, Var, NuVar >::solve_step	(	const auto &	M_inv,
		const Var &	pz_rhs,
		const Var &	rd,
		const NuVar &	req
	)		const