ActionDataLQRTpl< _Scalar > Struct Template Reference

Inheritance diagram for ActionDataLQRTpl< _Scalar >:

Public Types
typedef ActionDataAbstractTpl< Scalar >	Base
typedef MathBaseTpl< Scalar >	MathBase
typedef _Scalar	Scalar
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ActionDataLQRTpl (Model< Scalar > *const model)
Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
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	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	Luu_u_tmp
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	Lxx_x_tmp
VectorXs	r
	Cost residual.
VectorXs	xnext
	evolution state
Public Attributes inherited from ActionDataAbstractTpl< _Scalar >
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::ActionDataLQRTpl< _Scalar >

Definition at line 91 of file lqr.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.

---

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/core/actions/lqr.hpp