|
|
typedef ActionDataAbstractTpl< Scalar > | Base |
| |
|
typedef MathBaseTpl< Scalar > | MathBase |
| |
|
typedef MathBase::MatrixXs | MatrixXs |
| |
|
typedef MathBase::VectorXs | VectorXs |
| |
|
typedef MathBaseTpl< Scalar > | MathBase |
| |
|
typedef MathBase::MatrixXs | MatrixXs |
| |
|
typedef MathBase::VectorXs | VectorXs |
| |
|
|
template<template< typename Scalar > class Model> |
| | ActionDataImpulseFwdDynamicsTpl (Model< Scalar > *const model) |
| |
|
template<template< typename Scalar > class Model> |
| | ActionDataAbstractTpl (Model< Scalar > *const model) |
| |
|
|
std::shared_ptr< ConstraintDataManagerTpl< Scalar > > | constraints |
| |
|
std::shared_ptr< CostDataSumTpl< Scalar > > | costs |
| |
|
MatrixXs | df_dx |
| |
|
MatrixXs | dgrav_dq |
| |
|
MatrixXs | Kinv |
| |
|
DataCollectorMultibodyInImpulseTpl< Scalar > | multibody |
| |
|
pinocchio::DataTpl< Scalar > | pinocchio |
| |
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| |
|
VectorXs | vnone |
| |
|
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
|
| |
template<typename _Scalar>
struct crocoddyl::ActionDataImpulseFwdDynamicsTpl< _Scalar >
Definition at line 325 of file impulse-fwddyn.hpp.
The documentation for this struct was generated from the following file:
- /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/actions/impulse-fwddyn.hpp
Public Types inherited from ActionDataAbstractTpl< _Scalar >
1.9.1