Inheritance diagram for DifferentialActionModelLQRTpl< _Scalar >:

Collaboration diagram for DifferentialActionModelLQRTpl< _Scalar >:

Public Types
typedef DifferentialActionModelAbstractTpl< Scalar >	Base

typedef DifferentialActionDataLQRTpl< Scalar >	Data

typedef DifferentialActionDataAbstractTpl< Scalar >	DifferentialActionDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef _Scalar	Scalar

typedef StateVectorTpl< Scalar >	StateVector

typedef MathBase::VectorXs	VectorXs

Public Types inherited from DifferentialActionModelAbstractTpl< _Scalar >
typedef DifferentialActionDataAbstractTpl< Scalar >	DifferentialActionDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	DifferentialActionModelLQRTpl (const std::size_t nq, const std::size_t nu, const bool drift_free=true)

virtual void	calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)

virtual void	calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)

virtual void	calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)

virtual void	calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)

virtual bool	checkData (const boost::shared_ptr< DifferentialActionDataAbstract > &data)
	Checks that a specific data belongs to this model.

virtual boost::shared_ptr< DifferentialActionDataAbstract >	createData ()
	Create the differential action data. More...

const VectorXs &	get_f0 () const

const MatrixXs &	get_Fq () const

const MatrixXs &	get_Fu () const

const MatrixXs &	get_Fv () const

const VectorXs &	get_lu () const

const MatrixXs &	get_Luu () const

const VectorXs &	get_lx () const

const MatrixXs &	get_Lxu () const

const MatrixXs &	get_Lxx () const

virtual void	print (std::ostream &os) const
	Print relevant information of the LQR model. More...

void	set_f0 (const VectorXs &f0)

void	set_Fq (const MatrixXs &Fq)

void	set_Fu (const MatrixXs &Fu)

void	set_Fv (const MatrixXs &Fv)

void	set_lu (const VectorXs &lu)

void	set_Luu (const MatrixXs &Luu)

void	set_lx (const VectorXs &lx)

void	set_Lxu (const MatrixXs &Lxu)

void	set_Lxx (const MatrixXs &Lxx)

Public Member Functions inherited from DifferentialActionModelAbstractTpl< _Scalar >
	DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0)
	Initialize the differential action model. More...

virtual void	calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the total cost value for nodes that depends only on the state. More...

virtual void	calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	Compute the system acceleration and cost value. More...

virtual void	calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the cost functions with respect to the state only. More...

virtual void	calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	Compute the derivatives of the dynamics and cost functions. More...

bool	get_has_control_limits () const
	Indicates if there are defined control limits.

std::size_t	get_nr () const
	Return the dimension of the cost-residual vector.

std::size_t	get_nu () const
	Return the dimension of the control input.

const boost::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

const VectorXs &	get_u_lb () const
	Return the control lower bound.

const VectorXs &	get_u_ub () const
	Return the control upper bound.

virtual void	quasiStatic (const boost::shared_ptr< DifferentialActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))
	Computes the quasic static commands. More...

VectorXs	quasiStatic_x (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))

void	set_u_lb (const VectorXs &u_lb)
	Modify the control lower bounds.

void	set_u_ub (const VectorXs &u_ub)
	Modify the control upper bounds.

Protected Attributes
std::size_t	nu_
	Control dimension.

boost::shared_ptr< StateAbstract >	state_
	< Control dimension

Protected Attributes inherited from DifferentialActionModelAbstractTpl< _Scalar >
bool	has_control_limits_
	Indicates whether any of the control limits is finite.

std::size_t	nr_
	Dimension of the cost residual.

std::size_t	nu_
	Control dimension.

boost::shared_ptr< StateAbstract >	state_
	Model of the state.

VectorXs	u_lb_
	Lower control limits.

VectorXs	u_ub_
	Upper control limits.

VectorXs	unone_
	Neutral state.

Additional Inherited Members
Public Attributes inherited from DifferentialActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Member Functions inherited from DifferentialActionModelAbstractTpl< _Scalar >
void	update_has_control_limits ()

Detailed Description

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

Definition at line 21 of file diff-lqr.hpp.

Member Function Documentation

◆ createData()

virtual boost::shared_ptr<DifferentialActionDataAbstract> createData ( )

virtual

Create the differential action data.

Returns: the differential action data

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ print()

virtual void print ( std::ostream & os ) const

virtual

Print relevant information of the LQR model.

Parameters

[out] os Output stream object

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

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

include/crocoddyl/core/actions/diff-lqr.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

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

Member Function Documentation

◆ createData()

◆ print()

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