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| DifferentialActionModelLQRTpl (const std::size_t nq, const std::size_t nu, const bool drift_free=true) |
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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...
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virtual void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the system acceleration and cost value. More...
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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...
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virtual void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the derivatives of the dynamics and cost functions. More...
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virtual bool | checkData (const boost::shared_ptr< DifferentialActionDataAbstract > &data) |
| Checks that a specific data belongs to this model.
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virtual boost::shared_ptr< DifferentialActionDataAbstract > | createData () |
| Create the differential action data. More...
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const VectorXs & | get_f0 () const |
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const MatrixXs & | get_Fq () const |
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const MatrixXs & | get_Fu () const |
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const MatrixXs & | get_Fv () const |
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const VectorXs & | get_lu () const |
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const MatrixXs & | get_Luu () const |
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const VectorXs & | get_lx () const |
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const MatrixXs & | get_Lxu () const |
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const MatrixXs & | get_Lxx () const |
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virtual void | print (std::ostream &os) const |
| Print relevant information of the LQR model. More...
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void | set_f0 (const VectorXs &f0) |
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void | set_Fq (const MatrixXs &Fq) |
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void | set_Fu (const MatrixXs &Fu) |
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void | set_Fv (const MatrixXs &Fv) |
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void | set_lu (const VectorXs &lu) |
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void | set_Luu (const MatrixXs &Luu) |
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void | set_lx (const VectorXs &lx) |
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void | set_Lxu (const MatrixXs &Lxu) |
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void | set_Lxx (const MatrixXs &Lxx) |
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| DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0, const std::size_t ng=0, const std::size_t nh=0) |
| Initialize the differential action model. More...
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virtual const VectorXs & | get_g_lb () const |
| Return the lower bound of the inequality constraints.
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virtual const VectorXs & | get_g_ub () const |
| Return the upper bound of the inequality constraints.
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bool | get_has_control_limits () const |
| Indicates if there are defined control limits.
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virtual std::size_t | get_ng () const |
| Return the number of inequality constraints.
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virtual std::size_t | get_nh () const |
| Return the number of equality constraints.
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std::size_t | get_nr () const |
| Return the dimension of the cost-residual vector.
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std::size_t | get_nu () const |
| Return the dimension of the control input.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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const VectorXs & | get_u_lb () const |
| Return the control lower bound.
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const VectorXs & | get_u_ub () const |
| Return the control upper bound.
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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...
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VectorXs | quasiStatic_x (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
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void | set_g_lb (const VectorXs &g_lb) |
| Modify the lower bound of the inequality constraints.
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void | set_g_ub (const VectorXs &g_ub) |
| Modify the upper bound of the inequality constraints.
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void | set_u_lb (const VectorXs &u_lb) |
| Modify the control lower bounds.
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void | set_u_ub (const VectorXs &u_ub) |
| Modify the control upper bounds.
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template<typename _Scalar>
class crocoddyl::DifferentialActionModelLQRTpl< _Scalar >
Definition at line 21 of file diff-lqr.hpp.