Collaboration diagram for ActionDataNumDiffTpl< _Scalar >:

Public Types
typedef ActionDataAbstractTpl< Scalar >	Base

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBaseTpl< Scalar >::MatrixXs	MatrixXs

typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ActionDataNumDiffTpl (Model< Scalar > *const model)
	Initialize the numdiff action data. More...

Public Attributes
Scalar	cost
	cost value

boost::shared_ptr< Base >	data_0
	The data that contains the final results.

std::vector< boost::shared_ptr< Base > >	data_u
	The temporary data associated with the control variation.

std::vector< boost::shared_ptr< Base > >	data_x
	The temporary data associated with the state variation.

VectorXs	du
	Control disturbance.

VectorXs	dx
	State disturbance.

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.

MatrixXs	Ru
	Cost residual jacobian: $ \frac{d r(x,u)}{du} $.

MatrixXs	Rx
	Cost residual jacobian: $ \frac{d r(x,u)}{dx} $.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

VectorXs	xnext
	evolution state

VectorXs	xp
	The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".

Detailed Description

Definition at line 217 of file fwd.hpp.

Constructor & Destructor Documentation

ActionDataNumDiffTpl ( Model< Scalar > *const model )

inlineexplicit

Initialize the numdiff action data.

Template Parameters

Model is the type of the ActionModelAbstractTpl.

Parameters

model is the object to compute the numerical differentiation from.

Definition at line 156 of file action.hpp.

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