crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ActionDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActionDataAbstractTpl< _Scalar >:

Public Types

typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)

Public Attributes

Scalar cost
 cost value
MatrixXs Fu
 Jacobian of the dynamics.
MatrixXs Fx
 Jacobian of the dynamics.
VectorXs Lu
 Jacobian of the cost function.
MatrixXs Luu
 Hessian of the cost function.
VectorXs Lx
 Jacobian of the cost function.
MatrixXs Lxu
 Hessian of the cost function.
MatrixXs Lxx
 Hessian of the cost function.
VectorXs r
 Cost residual.
VectorXs xnext
 evolution state

Detailed Description

template<typename _Scalar>
struct crocoddyl::ActionDataAbstractTpl< _Scalar >

Definition at line 236 of file action-base.hpp.

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