Crocoddyl
Public Types | Public Member Functions | Public Attributes | List of all members
ActionDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActionDataAbstractTpl< _Scalar >:
ActionDataCodeGenTpl< _Scalar > ActionDataImpulseFwdDynamicsTpl< _Scalar > ActionDataLQRTpl< _Scalar > ActionDataNumDiffTpl< _Scalar > ActionDataUnicycleTpl< _Scalar > IntegratedActionDataAbstractTpl< _Scalar > IntegratedActionDataEulerTpl< _Scalar > IntegratedActionDataRK4Tpl< _Scalar > IntegratedActionDataRKTpl< _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 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
 

Detailed Description

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

Definition at line 329 of file action-base.hpp.

Member Data Documentation

◆ Lxu

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.

◆ Gx

MatrixXs Gx

Jacobian of the inequality constraint w.r.t. the state \(\mathbf{x}\)

Definition at line 386 of file action-base.hpp.

◆ Gu

MatrixXs Gu

Jacobian of the inequality constraint w.r.t. the control \(\mathbf{u}\)

Definition at line 388 of file action-base.hpp.

◆ Hx

MatrixXs Hx

Jacobian of the equality constraint w.r.t. the state \(\mathbf{x}\)

Definition at line 391 of file action-base.hpp.

◆ Hu

MatrixXs Hu

Jacobian of the equality constraint w.r.t. the control \(\mathbf{u}\)

Definition at line 393 of file action-base.hpp.

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