Public Types
typedef ControlParametrizationModelAbstractTpl< _Scalar >	Base

typedef ControlParametrizationDataAbstractTpl< _Scalar >	ControlParametrizationDataAbstract

typedef ControlParametrizationDataNumDiffTpl< _Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ControlParametrizationModelNumDiffTpl (boost::shared_ptr< Base > model)
	Construct a new ControlParametrizationModelNumDiff object. More...

void	calc (const boost::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const
	Get the value of the control at the specified time. More...

void	calcDiff (const boost::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const
	Get the value of the Jacobian of the control with respect to the parameters. More...

void	convertBounds (const Eigen::Ref< const VectorXs > &w_lb, const Eigen::Ref< const VectorXs > &w_ub, Eigen::Ref< VectorXs > u_lb, Eigen::Ref< VectorXs > u_ub) const
	Convert the bounds on the control to bounds on the control parameters. More...

virtual boost::shared_ptr< ControlParametrizationDataAbstract >	createData ()
	Create the control-parametrization data. More...

const Scalar	get_disturbance () const
	Get the disturbance_ object. More...

const boost::shared_ptr< Base > &	get_model () const
	Get the model_ object. More...

void	multiplyByJacobian (const boost::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp=setto) const
	Compute the product between a specified matrix and the Jacobian of the control (with respect to the parameters) More...

void	multiplyJacobianTransposeBy (const boost::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp=setto) const
	Compute the product between the transposed Jacobian of the control (with respect to the parameters) and a specified matrix. More...

void	params (const boost::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &w) const
	Get a value of the control parameters such that the control at the specified time t is equal to the specified value u. More...

void	set_disturbance (const Scalar disturbance)
	Set the disturbance_ object. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nu_
	Control parameters dimension.

std::size_t	nw_
	Control dimension.

Detailed Description

template<typename _Scalar>
class crocoddyl::ControlParametrizationModelNumDiffTpl< _Scalar >

Definition at line 238 of file fwd.hpp.

Constructor & Destructor Documentation

◆ ControlParametrizationModelNumDiffTpl()

ControlParametrizationModelNumDiffTpl ( boost::shared_ptr< Base > model )

explicit

Construct a new ControlParametrizationModelNumDiff object.

Parameters

model

Member Function Documentation

◆ calc()

void calc	(	const boost::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	u
	)		const

Get the value of the control at the specified time.

Parameters

[in]	data	Control-parametrization numdiff data
[in]	t	Time in [0,1]
[in]	u	Control parameters

◆ calcDiff()

void calcDiff	(	const boost::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	u
	)		const

Get the value of the Jacobian of the control with respect to the parameters.

Parameters

[in]	data	Control-parametrization numdiff data
[in]	t	Time in [0,1]
[in]	u	Control parameters

◆ createData()

virtual boost::shared_ptr<ControlParametrizationDataAbstract> createData ( )

virtual

Create the control-parametrization data.

Returns: the control-parametrization data

◆ params()

void params	(	const boost::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	w
	)		const

Get a value of the control parameters such that the control at the specified time t is equal to the specified value u.

Parameters

[in]	data	Control-parametrization numdiff data
[in]	t	Time in [0,1]
[in]	w	Control values

◆ convertBounds()

void convertBounds	(	const Eigen::Ref< const VectorXs > &	w_lb,
		const Eigen::Ref< const VectorXs > &	w_ub,
		Eigen::Ref< VectorXs >	u_lb,
		Eigen::Ref< VectorXs >	u_ub
	)		const

Convert the bounds on the control to bounds on the control parameters.

Parameters

[in]	w_lb	Control lower bound
[in]	w_ub	Control upper bound
[in]	u_lb	Control parameter lower bound
[in]	u_ub	Control parameter upper bound

◆ multiplyByJacobian()

void multiplyByJacobian	(	const boost::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Eigen::Ref< const MatrixXs > &	A,
		Eigen::Ref< MatrixXs >	out,
		const	AssignmentOp = `setto`
	)		const

Compute the product between a specified matrix and the Jacobian of the control (with respect to the parameters)

Parameters

[in]	data	Control-parametrization numdiff data
[in]	A	A matrix to multiply times the Jacobian
[out]	out	Product between the matrix A and the Jacobian of the control with respect to the parameters
[in]	op	Assignment operator which sets, adds, or removes the given results

◆ multiplyJacobianTransposeBy()

void multiplyJacobianTransposeBy	(	const boost::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Eigen::Ref< const MatrixXs > &	A,
		Eigen::Ref< MatrixXs >	out,
		const	AssignmentOp = `setto`
	)		const

Compute the product between the transposed Jacobian of the control (with respect to the parameters) and a specified matrix.

Parameters

[in]	data	Control-parametrization numdiff data
[in]	A	A matrix to multiply times the Jacobian
[out]	out	Product between the transposed Jacobian of the control with respect to the parameters and the matrix A
[in]	op	Assignment operator which sets, adds, or removes the given results

◆ get_model()

const boost::shared_ptr<Base>& get_model ( ) const

Get the model_ object.

Returns: Base&

◆ get_disturbance()

const Scalar get_disturbance ( ) const

Get the disturbance_ object.

Returns: Scalar

◆ set_disturbance()

void set_disturbance ( const Scalar disturbance )

Set the disturbance_ object.

Parameters

disturbance is the value used to find the numerical derivative

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

include/crocoddyl/core/fwd.hpp
include/crocoddyl/core/numdiff/control.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename _Scalar> class crocoddyl::ControlParametrizationModelNumDiffTpl< _Scalar >

Constructor & Destructor Documentation

◆ ControlParametrizationModelNumDiffTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ params()

◆ convertBounds()

◆ multiplyByJacobian()

◆ multiplyJacobianTransposeBy()

◆ get_model()

◆ get_disturbance()

◆ set_disturbance()

template<typename _Scalar>
class crocoddyl::ControlParametrizationModelNumDiffTpl< _Scalar >