Public Types | |
typedef IntegratedActionDataAbstractTpl< Scalar > | Base |
typedef ControlParametrizationDataAbstractTpl< Scalar > | ControlParametrizationDataAbstract |
typedef DifferentialActionDataAbstractTpl< Scalar > | DifferentialActionDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
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typedef ActionDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
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typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
template<template< typename Scalar > class Model> | |
IntegratedActionDataEulerTpl (Model< Scalar > *const model) | |
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template<template< typename Scalar > class Model> | |
IntegratedActionDataAbstractTpl (Model< Scalar > *const model) | |
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template<template< typename Scalar > class Model> | |
ActionDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
std::shared_ptr< ControlParametrizationDataAbstract > | control |
Control parametrization data. | |
Scalar | cost |
cost value | |
MatrixXs | da_du |
std::shared_ptr< DifferentialActionDataAbstract > | differential |
Differential model data. | |
VectorXs | dx |
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 \(\mathbf{u}\). | |
MatrixXs | Lwu |
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 | |
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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 | 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 | |
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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 | |
typedef MathBaseTpl<Scalar> MathBase |
typedef IntegratedActionDataAbstractTpl<Scalar> Base |
typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract |
typedef ControlParametrizationDataAbstractTpl<Scalar> ControlParametrizationDataAbstract |
typedef MathBase::VectorXs VectorXs |
typedef MathBase::MatrixXs MatrixXs |
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inlineexplicit |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
std::shared_ptr<DifferentialActionDataAbstract> differential |
std::shared_ptr<ControlParametrizationDataAbstract> control |
MatrixXs Lwu |
Scalar cost |
cost value
Definition at line 196 of file action-base.hpp.
MatrixXs Fu |
Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).
Definition at line 197 of file action-base.hpp.
MatrixXs Fx |
Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).
Definition at line 198 of file action-base.hpp.
VectorXs Lu |
Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
Definition at line 199 of file action-base.hpp.
MatrixXs Luu |
Hessian of the cost w.r.t. the control \(\mathbf{u}\).
Definition at line 200 of file action-base.hpp.
VectorXs Lx |
Jacobian of the cost w.r.t. the state \(\mathbf{x}\).
Definition at line 201 of file action-base.hpp.
MatrixXs Lxu |
Hessian of the cost w.r.t. the state \(\mathbf{x}\) and control \(\mathbf{u}\)
Definition at line 202 of file action-base.hpp.
MatrixXs Lxx |
Hessian of the cost w.r.t. the state \(\mathbf{x}\).
Definition at line 203 of file action-base.hpp.
VectorXs r |
Cost residual.
Definition at line 204 of file action-base.hpp.
VectorXs xnext |
evolution state
Definition at line 205 of file action-base.hpp.