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Crocoddyl
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Crocoddyl
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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 w.r.t. the control \(\mathbf{u}\). | |
| MatrixXs | Fx |
| Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\). | |
| VectorXs | g |
| Inequality constraint values. | |
| MatrixXs | Gu |
| MatrixXs | Gx |
| VectorXs | h |
| Equality constraint values. | |
| MatrixXs | Hu |
| MatrixXs | Hx |
| VectorXs | Lu |
| Jacobian of the cost w.r.t. the control \(\mathbf{u}\). | |
| MatrixXs | Luu |
| Hessian of the cost w.r.t. the control \(\mathbf{u}\). | |
| VectorXs | Lx |
| Jacobian of the cost w.r.t. the state \(\mathbf{x}\). | |
| MatrixXs | Lxu |
| MatrixXs | Lxx |
| Hessian of the cost w.r.t. the state \(\mathbf{x}\). | |
| VectorXs | r |
| Cost residual. | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| VectorXs | xnext |
| evolution state | |
Definition at line 329 of file action-base.hpp.
| MatrixXs Lxu |
Hessian of the cost w.r.t. the state \(\mathbf{x}\) and control \(\mathbf{u}\)
Definition at line 382 of file action-base.hpp.
| MatrixXs Gx |
Jacobian of the inequality constraint w.r.t. the state \(\mathbf{x}\)
Definition at line 386 of file action-base.hpp.
| MatrixXs Gu |
Jacobian of the inequality constraint w.r.t. the control \(\mathbf{u}\)
Definition at line 388 of file action-base.hpp.
| MatrixXs Hx |
Jacobian of the equality constraint w.r.t. the state \(\mathbf{x}\)
Definition at line 391 of file action-base.hpp.
| MatrixXs Hu |
Jacobian of the equality constraint w.r.t. the control \(\mathbf{u}\)
Definition at line 393 of file action-base.hpp.
1.9.1