crocoddyl  1.9.0 Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
StateNumDiffTpl< _Scalar > Class Template Reference

Public Types

typedef StateAbstractTpl< _Scalar > Base

typedef MathBaseTpl< Scalar > MathBase

typedef MathBase::MatrixXs MatrixXs

typedef MathBase::VectorXs VectorXs

Public Member Functions

StateNumDiffTpl (boost::shared_ptr< Base > state)

virtual void diff (const Eigen::Ref< const VectorXs > &x0, const Eigen::Ref< const VectorXs > &x1, Eigen::Ref< VectorXs > dxout) const

const Scalar get_disturbance () const

virtual void integrate (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< VectorXs > xout) const

virtual void Jdiff (const Eigen::Ref< const VectorXs > &x0, const Eigen::Ref< const VectorXs > &x1, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, Jcomponent firstsecond=both) const
This computes the Jacobian of the diff method by finite differentiation: More...

virtual void Jintegrate (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, const Jcomponent firstsecond=both, const AssignmentOp op=setto) const
This computes the Jacobian of the integrate method by finite differentiation: More...

virtual void JintegrateTransport (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< MatrixXs > Jin, const Jcomponent firstsecond=both) const

virtual VectorXs rand () const

void set_disturbance (const Scalar disturbance)

virtual VectorXs zero () const

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Attributes

bool has_limits_
Indicates whether any of the state limits is finite.

VectorXs lb_
Lower state limits.

std::size_t ndx_
State rate dimension.

std::size_t nq_
Configuration dimension.

std::size_t nv_
Velocity dimension.

std::size_t nx_
State dimension.

VectorXs ub_
Upper state limits.

Detailed Description

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

Definition at line 235 of file fwd.hpp.

◆ Jdiff()

 virtual void Jdiff ( const Eigen::Ref< const VectorXs > & x0, const Eigen::Ref< const VectorXs > & x1, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, Jcomponent firstsecond = both ) const
virtual

This computes the Jacobian of the diff method by finite differentiation:

$$Jfirst[:,k] = diff(int(x_1, dx_dist), x_2) - diff(x_1, x_2)/disturbance$$

and

$$Jsecond[:,k] = diff(x_1, int(x_2, dx_dist)) - diff(x_1, x_2)/disturbance$$

Parameters
 Jfirst Jsecond firstsecond

◆ Jintegrate()

 virtual void Jintegrate ( const Eigen::Ref< const VectorXs > & x, const Eigen::Ref< const VectorXs > & dx, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, const Jcomponent firstsecond = both, const AssignmentOp op = setto ) const
virtual

This computes the Jacobian of the integrate method by finite differentiation:

$$Jfirst[:,k] = diff( int(x, d_x), int( int(x, dx_dist), dx) )/disturbance$$

and

$$Jsecond[:,k] = diff( int(x, d_x), int( x, dx + dx_dist) )/disturbance$$

Parameters
 Jfirst Jsecond firstsecond

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