ActionDataImpulseFwdDynamicsTpl< _Scalar > Struct Template Reference

Inheritance diagram for ActionDataImpulseFwdDynamicsTpl< _Scalar >:

Public Types
typedef ActionDataAbstractTpl< Scalar >	Base
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ActionDataImpulseFwdDynamicsTpl (Model< Scalar > *const model)
Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	ActionDataAbstractTpl (Model< Scalar > *const model)

Public Attributes
std::shared_ptr< ConstraintDataManagerTpl< Scalar > >	constraints
std::shared_ptr< CostDataSumTpl< Scalar > >	costs
MatrixXs	df_dx
MatrixXs	dgrav_dq
MatrixXs	Kinv
DataCollectorMultibodyInImpulseTpl< Scalar >	multibody
pinocchio::DataTpl< Scalar >	pinocchio
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
VectorXs	vnone
Public Attributes inherited from ActionDataAbstractTpl< _Scalar >
Scalar	cost
	cost value
MatrixXs	Fu
	Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).
MatrixXs	Fx
	Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).
VectorXs	g
	Inequality constraint values.
MatrixXs	Gu
MatrixXs	Gx
VectorXs	h
	Equality constraint values.
MatrixXs	Hu
MatrixXs	Hx
VectorXs	Lu
	Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
MatrixXs	Luu
	Hessian of the cost w.r.t. the control \(\mathbf{u}\).
VectorXs	Lx
	Jacobian of the cost w.r.t. the state \(\mathbf{x}\).
MatrixXs	Lxu
MatrixXs	Lxx
	Hessian of the cost w.r.t. the state \(\mathbf{x}\).
VectorXs	r
	Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
VectorXs	xnext
	evolution state

Detailed Description

template<typename _Scalar>
struct crocoddyl::ActionDataImpulseFwdDynamicsTpl< _Scalar >

Definition at line 330 of file impulse-fwddyn.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 333 of file impulse-fwddyn.hpp.

Base

template<typename _Scalar >

typedef ActionDataAbstractTpl<Scalar> Base

Definition at line 334 of file impulse-fwddyn.hpp.

VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 335 of file impulse-fwddyn.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 336 of file impulse-fwddyn.hpp.

Constructor & Destructor Documentation

ActionDataImpulseFwdDynamicsTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ActionDataImpulseFwdDynamicsTpl ( Model< Scalar > *const  model )

inlineexplicit

Definition at line 339 of file impulse-fwddyn.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 332 of file impulse-fwddyn.hpp.

pinocchio

template<typename _Scalar >

pinocchio::DataTpl<Scalar> pinocchio

Definition at line 364 of file impulse-fwddyn.hpp.

multibody

template<typename _Scalar >

DataCollectorMultibodyInImpulseTpl<Scalar> multibody

Definition at line 365 of file impulse-fwddyn.hpp.

costs

template<typename _Scalar >

std::shared_ptr<CostDataSumTpl<Scalar> > costs

Definition at line 366 of file impulse-fwddyn.hpp.

constraints

template<typename _Scalar >

std::shared_ptr<ConstraintDataManagerTpl<Scalar> > constraints

Definition at line 367 of file impulse-fwddyn.hpp.

vnone

template<typename _Scalar >

VectorXs vnone

Definition at line 368 of file impulse-fwddyn.hpp.

Kinv

template<typename _Scalar >

MatrixXs Kinv

Definition at line 369 of file impulse-fwddyn.hpp.

df_dx

template<typename _Scalar >

MatrixXs df_dx

Definition at line 370 of file impulse-fwddyn.hpp.

dgrav_dq

template<typename _Scalar >

MatrixXs dgrav_dq

Definition at line 371 of file impulse-fwddyn.hpp.

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The documentation for this struct was generated from the following file:

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/actions/impulse-fwddyn.hpp