Inheritance diagram for CostDataNumDiffTpl< _Scalar >:

Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract

typedef CostDataAbstractTpl< Scalar >	Base

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Types inherited from CostDataAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract

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>
	CostDataNumDiffTpl (Model< Scalar > const model, DataCollectorAbstract const shared_data)
	Initialize the numdiff cost data.

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

	DEPRECATED ("Use residual.r", const VectorXs &get_r() const { return residual->r;};) DEPRECATED("Use residual.Rx"

	DEPRECATED ("Use residual.Ru", const MatrixXs &get_Ru() const { return residual->Ru;};) DEPRECATED("Use residual.r"

	DEPRECATED ("Use residual.Rx", void set_Rx(const MatrixXs &Rx) { residual->Rx=Rx;};) DEPRECATED("Use residual.Ru"

const MatrixXs &	get_Rx () const

void	set_r (const VectorXs &r)

void	set_Ru (const MatrixXs &Ru)

Public Attributes
std::shared_ptr< ActivationDataAbstract >	activation

Scalar	cost

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.

VectorXs	Lu

MatrixXs	Luu

VectorXs	Lx

MatrixXs	Lxu

MatrixXs	Lxx

std::shared_ptr< ResidualDataAbstract >	residual

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

DataCollectorAbstract *	shared

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 CostDataAbstractTpl< _Scalar >
std::shared_ptr< ActivationDataAbstract >	activation

Scalar	cost

VectorXs	Lu

MatrixXs	Luu

VectorXs	Lx

MatrixXs	Lxu

MatrixXs	Lxx

std::shared_ptr< ResidualDataAbstract >	residual

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

DataCollectorAbstract *	shared

Detailed Description

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

Definition at line 173 of file cost.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 177 of file cost.hpp.

◆ Base

template<typename _Scalar >

typedef CostDataAbstractTpl<Scalar> Base

Definition at line 178 of file cost.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 179 of file cost.hpp.

◆ ActivationDataAbstract

template<typename _Scalar >

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

Definition at line 180 of file cost.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 181 of file cost.hpp.

Constructor & Destructor Documentation

◆ CostDataNumDiffTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

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

inlineexplicit

Initialize the numdiff cost data.

Template Parameters

Model is the type of the CostModelAbstractTpl.

Parameters

model is the object to compute the numerical differentiation from.

Definition at line 190 of file cost.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 176 of file cost.hpp.

◆ x_norm

template<typename _Scalar >

Scalar x_norm

Norm of the state vector.

Definition at line 225 of file cost.hpp.

◆ xh_jac

template<typename _Scalar >

Scalar xh_jac

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

Definition at line 227 of file cost.hpp.

◆ uh_jac

template<typename _Scalar >

Scalar uh_jac

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

Definition at line 229 of file cost.hpp.

◆ dx

template<typename _Scalar >

VectorXs dx

State disturbance.

Definition at line 230 of file cost.hpp.

◆ xp

template<typename _Scalar >

VectorXs xp

The integrated state from the disturbance on one DoF "\iline 232 \_form#91@_fakenl".

Definition at line 231 of file cost.hpp.

◆ du

template<typename _Scalar >

VectorXs du

Control disturbance.

Definition at line 233 of file cost.hpp.

◆ up

template<typename _Scalar >

VectorXs up

The integrated control from the disturbance on one DoF "\iline 235 \_form#99@_fakenl".

Definition at line 234 of file cost.hpp.

◆ data_0

template<typename _Scalar >

std::shared_ptr<Base> data_0

The data at the approximation point.

Definition at line 236 of file cost.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 238 of file cost.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 240 of file cost.hpp.

◆ activation

template<typename _Scalar >

std::shared_ptr<ActivationDataAbstract> activation

Definition at line 334 of file cost-base.hpp.

◆ cost

template<typename _Scalar >

Scalar cost

Definition at line 336 of file cost-base.hpp.

◆ Lu

template<typename _Scalar >

VectorXs Lu

Definition at line 338 of file cost-base.hpp.

◆ Luu

template<typename _Scalar >

MatrixXs Luu

Definition at line 341 of file cost-base.hpp.

◆ Lx

template<typename _Scalar >

VectorXs Lx

Definition at line 337 of file cost-base.hpp.

◆ Lxu

template<typename _Scalar >

MatrixXs Lxu

Definition at line 340 of file cost-base.hpp.

◆ Lxx

template<typename _Scalar >

MatrixXs Lxx

Definition at line 339 of file cost-base.hpp.

◆ residual

template<typename _Scalar >

std::shared_ptr<ResidualDataAbstract> residual

Definition at line 335 of file cost-base.hpp.

◆ shared

template<typename _Scalar >

DataCollectorAbstract* shared

Definition at line 333 of file cost-base.hpp.

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

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ DataCollectorAbstract

◆ ActivationDataAbstract

◆ VectorXs

Constructor & Destructor Documentation

◆ CostDataNumDiffTpl()

Member Data Documentation

◆ Scalar

◆ x_norm

◆ xh_jac

◆ uh_jac

◆ dx

◆ xp

◆ du

◆ up

◆ data_0

◆ data_x

◆ data_u

◆ activation

◆ cost

◆ Lu

◆ Luu

◆ Lx

◆ Lxu

◆ Lxx

◆ residual

◆ shared