ConstraintDataNumDiffTpl< _Scalar > Struct Template Reference

Inheritance diagram for ConstraintDataNumDiffTpl< _Scalar >:

Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract
typedef ConstraintDataAbstractTpl< Scalar >	Base
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBaseTpl< Scalar >::VectorXs	VectorXs
Public Types inherited from ConstraintDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ConstraintDataNumDiffTpl (Model< Scalar > *const model, DataCollectorAbstract *const shared_data)
Public Member Functions inherited from ConstraintDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	ConstraintDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes
std::shared_ptr< Base >	data_0
	The data at the approximation point.
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	Gu
	Jacobian of the inequality constraint.
MatrixXs	Gx
	Jacobian of the inequality constraint.
MatrixXs	Hu
	Jacobian of the equality constraint.
MatrixXs	Hx
	Jacobian of the equality constraint.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
DataCollectorAbstract *	shared
	Shared data.
Scalar	uh_jac
	Disturbance value used for computing \( \ell_\mathbf{u} \).
VectorXs	up
Scalar	x_norm
	Norm of the state vector.
Scalar	xh_jac
	Disturbance value used for computing \( \ell_\mathbf{x} \).
VectorXs	xp
Public Attributes inherited from ConstraintDataAbstractTpl< _Scalar >
VectorXs	g
	Inequality constraint values.
MatrixXs	Gu
	Jacobian of the inequality constraint.
MatrixXs	Gx
	Jacobian of the inequality constraint.
VectorXs	h
	Equality constraint values.
MatrixXs	Hu
	Jacobian of the equality constraint.
MatrixXs	Hx
	Jacobian of the equality constraint.
std::shared_ptr< ResidualDataAbstract >	residual
	Residual data.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
DataCollectorAbstract *	shared
	Shared data.

Detailed Description

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

Definition at line 156 of file constraint.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 160 of file constraint.hpp.

Base

template<typename _Scalar >

typedef ConstraintDataAbstractTpl<Scalar> Base

Definition at line 161 of file constraint.hpp.

DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 162 of file constraint.hpp.

ActivationDataAbstract

template<typename _Scalar >

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

Definition at line 163 of file constraint.hpp.

VectorXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 164 of file constraint.hpp.

Constructor & Destructor Documentation

ConstraintDataNumDiffTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ConstraintDataNumDiffTpl ( Model< Scalar > *const  model, DataCollectorAbstract *const  shared_data  )

inlineexplicit

Definition at line 167 of file constraint.hpp.

~ConstraintDataNumDiffTpl()

template<typename _Scalar >

virtual ~ConstraintDataNumDiffTpl ( )

inlinevirtual

Definition at line 190 of file constraint.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 159 of file constraint.hpp.

x_norm

template<typename _Scalar >

Scalar x_norm

Norm of the state vector.

Definition at line 198 of file constraint.hpp.

xh_jac

template<typename _Scalar >

Scalar xh_jac

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

Definition at line 200 of file constraint.hpp.

uh_jac

template<typename _Scalar >

Scalar uh_jac

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

Definition at line 202 of file constraint.hpp.

dx

template<typename _Scalar >

VectorXs dx

State disturbance.

Definition at line 203 of file constraint.hpp.

xp

template<typename _Scalar >

VectorXs xp

The integrated state from the disturbance on one DoF "\iline 205 \_form#91@_fakenl".

Definition at line 204 of file constraint.hpp.

du

template<typename _Scalar >

VectorXs du

Control disturbance.

Definition at line 206 of file constraint.hpp.

up

template<typename _Scalar >

VectorXs up

The integrated control from the disturbance on one DoF "\iline 208 \_form#99@_fakenl".

Definition at line 207 of file constraint.hpp.

data_0

template<typename _Scalar >

std::shared_ptr<Base> data_0

The data at the approximation point.

Definition at line 209 of file constraint.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 211 of file constraint.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 213 of file constraint.hpp.

Gu

template<typename _Scalar >

MatrixXs Gu

Jacobian of the inequality constraint.

Definition at line 306 of file constraint-base.hpp.

Gx

template<typename _Scalar >

MatrixXs Gx

Jacobian of the inequality constraint.

Definition at line 305 of file constraint-base.hpp.

Hu

template<typename _Scalar >

MatrixXs Hu

Jacobian of the equality constraint.

Definition at line 309 of file constraint-base.hpp.

Hx

template<typename _Scalar >

MatrixXs Hx

Jacobian of the equality constraint.

Definition at line 308 of file constraint-base.hpp.

shared

template<typename _Scalar >

DataCollectorAbstract* shared

Shared data.

Definition at line 302 of file constraint-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/constraint.hpp