Inheritance diagram for ActionDataNumDiffTpl< _Scalar >:

Public Types
typedef ActionDataAbstractTpl< Scalar >	Base

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBaseTpl< Scalar >::MatrixXs	MatrixXs

typedef MathBaseTpl< Scalar >::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>
	ActionDataNumDiffTpl (Model< Scalar > *const model)
	Initialize the numdiff action data.

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

Public Attributes
Scalar	cost
	cost value

std::shared_ptr< Base >	data_0
	The data that contains the final results.

std::vector< std::shared_ptr< Base > >	data_u
	The temporary data associated with the control variation.

std::vector< std::shared_ptr< Base > >	data_x
	The temporary data associated with the state variation.

VectorXs	du
	Control disturbance.

VectorXs	dx
	State disturbance.

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	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.

MatrixXs	Ru
	Cost residual jacobian: \( \frac{d r(x,u)}{du} \).

MatrixXs	Rx
	Cost residual jacobian: \( \frac{d r(x,u)}{dx} \).

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Scalar	uh_hess

Scalar	uh_hess_pow2

Scalar	uh_jac
	Disturbance value used for computing \( \ell_\mathbf{u} \).

Scalar	x_norm
	Norm of the state vector.

Scalar	xh_hess

Scalar	xh_hess_pow2

Scalar	xh_jac
	Disturbance value used for computing \( \ell_\mathbf{x} \).

VectorXs	xnext
	evolution state

VectorXs	xp

Scalar	xuh_hess_pow2

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::ActionDataNumDiffTpl< _Scalar >

Definition at line 186 of file action.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 190 of file action.hpp.

◆ Base

template<typename _Scalar >

typedef ActionDataAbstractTpl<Scalar> Base

Definition at line 191 of file action.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 192 of file action.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::MatrixXs MatrixXs

Definition at line 193 of file action.hpp.

Constructor & Destructor Documentation

◆ ActionDataNumDiffTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ActionDataNumDiffTpl ( Model< Scalar > *const model )

inlineexplicit

Initialize the numdiff action data.

Template Parameters

Model is the type of the ActionModelAbstractTpl.

Parameters

model is the object to compute the numerical differentiation from.

Definition at line 202 of file action.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 189 of file action.hpp.

◆ x_norm

template<typename _Scalar >

Scalar x_norm

Norm of the state vector.

Definition at line 238 of file action.hpp.

◆ xh_jac

template<typename _Scalar >

Scalar xh_jac

Disturbance value used for computing \( \ell_\mathbf{x} \).

Definition at line 240 of file action.hpp.

◆ uh_jac

template<typename _Scalar >

Scalar uh_jac

Disturbance value used for computing \( \ell_\mathbf{u} \).

Definition at line 242 of file action.hpp.

◆ xh_hess

template<typename _Scalar >

Scalar xh_hess

Disturbance value used for computing \( < \ell_\mathbf{xx} \)

Definition at line 243 of file action.hpp.

◆ uh_hess

template<typename _Scalar >

Scalar uh_hess

Disturbance value used for computing \( < \ell_\mathbf{uu} \)

Definition at line 245 of file action.hpp.

◆ xh_hess_pow2

template<typename _Scalar >

Scalar xh_hess_pow2

Definition at line 247 of file action.hpp.

◆ uh_hess_pow2

template<typename _Scalar >

Scalar uh_hess_pow2

Definition at line 248 of file action.hpp.

◆ xuh_hess_pow2

template<typename _Scalar >

Scalar xuh_hess_pow2

Definition at line 249 of file action.hpp.

◆ Rx

template<typename _Scalar >

MatrixXs Rx

Cost residual jacobian: \( \frac{d r(x,u)}{dx} \).

Definition at line 250 of file action.hpp.

◆ Ru

template<typename _Scalar >

MatrixXs Ru

Cost residual jacobian: \( \frac{d r(x,u)}{du} \).

Definition at line 251 of file action.hpp.

◆ dx

template<typename _Scalar >

VectorXs dx

State disturbance.

Definition at line 252 of file action.hpp.

◆ du

template<typename _Scalar >

VectorXs du

Control disturbance.

Definition at line 253 of file action.hpp.

◆ xp

template<typename _Scalar >

VectorXs xp

The integrated state from the disturbance on one DoF "\iline 255 \_form#91@_fakenl"

Definition at line 254 of file action.hpp.

◆ data_0

template<typename _Scalar >

std::shared_ptr<Base> data_0

The data that contains the final results.

Definition at line 256 of file action.hpp.

◆ data_x

template<typename _Scalar >

std::vector<std::shared_ptr<Base> > data_x

The temporary data associated with the state variation.

Definition at line 258 of file action.hpp.

◆ data_u

template<typename _Scalar >

std::vector<std::shared_ptr<Base> > data_u

The temporary data associated with the control variation.

Definition at line 260 of file action.hpp.

◆ cost

template<typename _Scalar >

Scalar cost

cost value

Definition at line 410 of file action-base.hpp.

◆ Fu

template<typename _Scalar >

MatrixXs Fu

Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).

Definition at line 414 of file action-base.hpp.

◆ Fx

template<typename _Scalar >

MatrixXs Fx

Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).

Definition at line 412 of file action-base.hpp.

◆ Lu

template<typename _Scalar >

VectorXs Lu

Jacobian of the cost w.r.t. the control \(\mathbf{u}\).

Definition at line 417 of file action-base.hpp.

◆ Luu

template<typename _Scalar >

MatrixXs Luu

Hessian of the cost w.r.t. the control \(\mathbf{u}\).

Definition at line 421 of file action-base.hpp.

◆ Lx

template<typename _Scalar >

VectorXs Lx

Jacobian of the cost w.r.t. the state \(\mathbf{x}\).

Definition at line 416 of file action-base.hpp.

◆ Lxu

template<typename _Scalar >

MatrixXs Lxu

Hessian of the cost w.r.t. the state \(\mathbf{x}\) and control \(\mathbf{u}\)

Definition at line 419 of file action-base.hpp.

◆ Lxx

template<typename _Scalar >

MatrixXs Lxx

Hessian of the cost w.r.t. the state \(\mathbf{x}\).

Definition at line 418 of file action-base.hpp.

◆ r

template<typename _Scalar >

VectorXs r

Cost residual.

Definition at line 415 of file action-base.hpp.

◆ xnext

template<typename _Scalar >

VectorXs xnext

evolution state

Definition at line 411 of file action-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/numdiff/action.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ActionDataNumDiffTpl()

Member Data Documentation

◆ Scalar

◆ x_norm

◆ xh_jac

◆ uh_jac

◆ xh_hess

◆ uh_hess

◆ xh_hess_pow2

◆ uh_hess_pow2

◆ xuh_hess_pow2

◆ Rx

◆ Ru

◆ dx

◆ du

◆ xp

◆ data_0

◆ data_x

◆ data_u

◆ cost

◆ Fu

◆ Fx

◆ Lu

◆ Luu

◆ Lx

◆ Lxu

◆ Lxx

◆ r

◆ xnext