Inheritance 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)
	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)
	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)
	Compute the derivatives of the dynamics and cost functions. More...

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, const std::size_t ng=0, const std::size_t nh=0)
	Initialize the differential action model. More...

virtual const VectorXs &	get_g_lb () const
	Return the lower bound of the inequality constraints.

virtual const VectorXs &	get_g_ub () const
	Return the upper bound of the inequality constraints.

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

virtual std::size_t	get_ng () const
	Return the number of inequality constraints.

virtual std::size_t	get_nh () const
	Return the number of equality constraints.

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_g_lb (const VectorXs &g_lb)
	Modify the lower bound of the inequality constraints.

void	set_g_ub (const VectorXs &g_ub)
	Modify the upper bound of the inequality constraints.

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 >
VectorXs	g_lb_
	Lower bound of the inequality constraints.

VectorXs	g_ub_
	Lower bound of the inequality constraints.

bool	has_control_limits_

std::size_t	ng_
	Number of inequality constraints.

std::size_t	nh_
	Number of equality constraints.

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 ()
	Update the status of the control limits (i.e. if there are defined limits)

Detailed Description

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

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

Member Function Documentation

◆ calc() [1/2]

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

virtual

Compute the system acceleration and cost value.

Parameters

[in]	data	Differential action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements DifferentialActionModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

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

virtual

Compute the total cost value for nodes that depends only on the state.

It updates the total cost and the system acceleration is not updated as the control input is undefined. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Differential action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

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

virtual

Compute the derivatives of the dynamics and cost functions.

It computes the partial derivatives of the dynamical system and the cost function. It assumes that calc() has been run first. This function builds a quadratic approximation of the time-continuous action model (i.e. dynamical system and cost function).

Parameters

[in]	data	Differential action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements DifferentialActionModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

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

virtual

Compute the derivatives of the cost functions with respect to the state only.

It updates the derivatives of the cost function with respect to the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Differential action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ 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:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/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

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ print()

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