Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
IntegratedActionDataRKTpl< _Scalar > Struct Template Reference
Inheritance diagram for IntegratedActionDataRKTpl< _Scalar >:
IntegratedActionDataAbstractTpl< _Scalar > ActionDataAbstractTpl< _Scalar >

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
 
- Public Types inherited from IntegratedActionDataAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::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>
 IntegratedActionDataRKTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from IntegratedActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 IntegratedActionDataAbstractTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

std::vector< std::shared_ptr< ControlParametrizationDataAbstract > > control
 List of control parametrization data.
 
Scalar cost
 cost value
 
std::vector< MatrixXs > ddli_ddu
 
std::vector< MatrixXs > ddli_ddw
 
std::vector< MatrixXs > ddli_ddx
 
std::vector< MatrixXs > ddli_dwdu
 
std::vector< MatrixXs > ddli_dxdu
 
std::vector< MatrixXs > ddli_dxdw
 
std::vector< std::shared_ptr< DifferentialActionDataAbstract > > differential
 List of differential model data.
 
std::vector< MatrixXs > dki_du
 
std::vector< MatrixXs > dki_dx
 
std::vector< VectorXs > dli_du
 
std::vector< VectorXs > dli_dx
 
VectorXs dx
 State rate.
 
std::vector< VectorXs > dx_rk
 
std::vector< MatrixXs > dyi_du
 
std::vector< MatrixXs > dyi_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 \(\mathbf{x}\).
 
std::vector< Scalar > integral
 
std::vector< VectorXs > ki
 List of RK terms related to system dynamics.
 
VectorXs Lu
 Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
 
MatrixXs Luu
 Hessian of the cost w.r.t. the control \(\mathbf{u}\).
 
std::vector< MatrixXs > Luu_partialx
 
VectorXs Lx
 Jacobian of the cost w.r.t. the state \(\mathbf{x}\).
 
MatrixXs Lxu
 
std::vector< MatrixXs > Lxu_i
 
MatrixXs Lxx
 Hessian of the cost w.r.t. the state \(\mathbf{x}\).
 
std::vector< MatrixXs > Lxx_partialu
 
std::vector< MatrixXs > Lxx_partialx
 
VectorXs r
 Cost residual.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
std::vector< VectorXs > ws
 Control inputs evaluated in the RK integration.
 
VectorXs xnext
 evolution state
 
std::vector< VectorXs > y
 List of states where f is evaluated in the RK integration.
 
- Public Attributes inherited from IntegratedActionDataAbstractTpl< _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 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
 
- 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::IntegratedActionDataRKTpl< _Scalar >

Definition at line 221 of file rk.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 226 of file rk.hpp.

◆ Base

template<typename _Scalar >
typedef IntegratedActionDataAbstractTpl<Scalar> Base

Definition at line 227 of file rk.hpp.

◆ DifferentialActionDataAbstract

template<typename _Scalar >
typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract

Definition at line 229 of file rk.hpp.

◆ ControlParametrizationDataAbstract

template<typename _Scalar >
typedef ControlParametrizationDataAbstractTpl<Scalar> ControlParametrizationDataAbstract

Definition at line 231 of file rk.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 232 of file rk.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 233 of file rk.hpp.

Constructor & Destructor Documentation

◆ IntegratedActionDataRKTpl()

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

Definition at line 236 of file rk.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 225 of file rk.hpp.

◆ differential

template<typename _Scalar >
std::vector<std::shared_ptr<DifferentialActionDataAbstract> > differential

List of differential model data.

Definition at line 296 of file rk.hpp.

◆ control

template<typename _Scalar >
std::vector<std::shared_ptr<ControlParametrizationDataAbstract> > control

List of control parametrization data.

Definition at line 298 of file rk.hpp.

◆ integral

template<typename _Scalar >
std::vector<Scalar> integral

Definition at line 299 of file rk.hpp.

◆ dx

template<typename _Scalar >
VectorXs dx

State rate.

Definition at line 300 of file rk.hpp.

◆ ki

template<typename _Scalar >
std::vector<VectorXs> ki

List of RK terms related to system dynamics.

Definition at line 301 of file rk.hpp.

◆ y

template<typename _Scalar >
std::vector<VectorXs> y

List of states where f is evaluated in the RK integration.

Definition at line 303 of file rk.hpp.

◆ ws

template<typename _Scalar >
std::vector<VectorXs> ws

Control inputs evaluated in the RK integration.

Definition at line 304 of file rk.hpp.

◆ dx_rk

template<typename _Scalar >
std::vector<VectorXs> dx_rk

Definition at line 305 of file rk.hpp.

◆ dki_dx

template<typename _Scalar >
std::vector<MatrixXs> dki_dx

List of partial derivatives of RK nodes with respect to the state of the RK integration. dki/dx

Definition at line 308 of file rk.hpp.

◆ dki_du

template<typename _Scalar >
std::vector<MatrixXs> dki_du

List of partial derivatives of RK nodes with respect to the control parameters of the RK integration. dki/du

Definition at line 311 of file rk.hpp.

◆ dyi_dx

template<typename _Scalar >
std::vector<MatrixXs> dyi_dx

List of partial derivatives of RK dynamics with respect to the state of the RK integrator. dyi/dx

Definition at line 315 of file rk.hpp.

◆ dyi_du

template<typename _Scalar >
std::vector<MatrixXs> dyi_du

List of partial derivatives of RK dynamics with respect to the control parameters of the RK integrator. dyi/du

Definition at line 318 of file rk.hpp.

◆ dli_dx

template<typename _Scalar >
std::vector<VectorXs> dli_dx

List of partial derivatives of the cost with respect to the state of the RK integration. dli_dx

Definition at line 322 of file rk.hpp.

◆ dli_du

template<typename _Scalar >
std::vector<VectorXs> dli_du

List of partial derivatives of the cost with respect to the control input of the RK integration. dli_du

Definition at line 325 of file rk.hpp.

◆ ddli_ddx

template<typename _Scalar >
std::vector<MatrixXs> ddli_ddx

List of second partial derivatives of the cost with respect to the state of the RK integration. ddli_ddx

Definition at line 329 of file rk.hpp.

◆ ddli_ddw

template<typename _Scalar >
std::vector<MatrixXs> ddli_ddw

List of second partial derivatives of the cost with respect to the control parameters of the RK integration. ddli_ddw

Definition at line 332 of file rk.hpp.

◆ ddli_ddu

template<typename _Scalar >
std::vector<MatrixXs> ddli_ddu

List of second partial derivatives of the cost with respect to the control input of the RK integration. ddli_ddu

Definition at line 335 of file rk.hpp.

◆ ddli_dxdw

template<typename _Scalar >
std::vector<MatrixXs> ddli_dxdw

List of second partial derivatives of the cost with respect to the state and control input of the RK integration. ddli_dxdw

Definition at line 339 of file rk.hpp.

◆ ddli_dxdu

template<typename _Scalar >
std::vector<MatrixXs> ddli_dxdu

List of second partial derivatives of the cost with respect to the state and control parameters of the RK integration. ddli_dxdu

Definition at line 343 of file rk.hpp.

◆ ddli_dwdu

template<typename _Scalar >
std::vector<MatrixXs> ddli_dwdu

List of second partial derivatives of the cost with respect to the control parameters and inputs control of the RK integration. ddli_dwdu

Definition at line 347 of file rk.hpp.

◆ Luu_partialx

template<typename _Scalar >
std::vector<MatrixXs> Luu_partialx

Definition at line 351 of file rk.hpp.

◆ Lxu_i

template<typename _Scalar >
std::vector<MatrixXs> Lxu_i

Definition at line 352 of file rk.hpp.

◆ Lxx_partialx

template<typename _Scalar >
std::vector<MatrixXs> Lxx_partialx

Definition at line 353 of file rk.hpp.

◆ Lxx_partialu

template<typename _Scalar >
std::vector<MatrixXs> Lxx_partialu

Definition at line 354 of file rk.hpp.

◆ cost

template<typename _Scalar >
Scalar cost

cost value

Definition at line 196 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 197 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 198 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 199 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 200 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 201 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 202 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 203 of file action-base.hpp.

◆ r

template<typename _Scalar >
VectorXs r

Cost residual.

Definition at line 204 of file action-base.hpp.

◆ xnext

template<typename _Scalar >
VectorXs xnext

evolution state

Definition at line 205 of file action-base.hpp.

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