Crocoddyl
 
Loading...
Searching...
No Matches
Public Types | Public Member Functions | Public Attributes | List of all members
DifferentialActionDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for DifferentialActionDataAbstractTpl< _Scalar >:
DifferentialActionDataContactFwdDynamicsTpl< _Scalar > DifferentialActionDataContactInvDynamicsTpl< _Scalar > DifferentialActionDataFreeFwdDynamicsTpl< _Scalar > DifferentialActionDataFreeInvDynamicsTpl< _Scalar > DifferentialActionDataLQRTpl< _Scalar > DifferentialActionDataNumDiffTpl< _Scalar >

Public Types

typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 DifferentialActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

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 xout
 evolution state
 

Detailed Description

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

Definition at line 391 of file diff-action-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 395 of file diff-action-base.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 396 of file diff-action-base.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 397 of file diff-action-base.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataAbstractTpl()

template<typename _Scalar >
template<template< typename Scalar > class Model>
DifferentialActionDataAbstractTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 400 of file diff-action-base.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 394 of file diff-action-base.hpp.

◆ cost

template<typename _Scalar >
Scalar cost

cost value

Definition at line 445 of file diff-action-base.hpp.

◆ xout

template<typename _Scalar >
VectorXs xout

evolution state

Definition at line 446 of file diff-action-base.hpp.

◆ Fx

template<typename _Scalar >
MatrixXs Fx

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

Definition at line 447 of file diff-action-base.hpp.

◆ Fu

template<typename _Scalar >
MatrixXs Fu

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

Definition at line 449 of file diff-action-base.hpp.

◆ r

template<typename _Scalar >
VectorXs r

Cost residual.

Definition at line 450 of file diff-action-base.hpp.

◆ Lx

template<typename _Scalar >
VectorXs Lx

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

Definition at line 451 of file diff-action-base.hpp.

◆ Lu

template<typename _Scalar >
VectorXs Lu

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

Definition at line 452 of file diff-action-base.hpp.

◆ Lxx

template<typename _Scalar >
MatrixXs Lxx

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

Definition at line 453 of file diff-action-base.hpp.

◆ Lxu

template<typename _Scalar >
MatrixXs Lxu

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

Definition at line 454 of file diff-action-base.hpp.

◆ Luu

template<typename _Scalar >
MatrixXs Luu

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

Definition at line 456 of file diff-action-base.hpp.

◆ g

template<typename _Scalar >
VectorXs g

Inequality constraint values.

Definition at line 457 of file diff-action-base.hpp.

◆ Gx

template<typename _Scalar >
MatrixXs Gx

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

Definition at line 458 of file diff-action-base.hpp.

◆ Gu

template<typename _Scalar >
MatrixXs Gu

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

Definition at line 460 of file diff-action-base.hpp.

◆ h

template<typename _Scalar >
VectorXs h

Equality constraint values.

Definition at line 462 of file diff-action-base.hpp.

◆ Hx

template<typename _Scalar >
MatrixXs Hx

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

Definition at line 463 of file diff-action-base.hpp.

◆ Hu

template<typename _Scalar >
MatrixXs Hu

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

Definition at line 465 of file diff-action-base.hpp.

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