Inheritance 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 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>
	ActionDataNumDiffTpl (Model< Scalar > *const model)
	Initialize the numdiff action data. More...

Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	ActionDataAbstractTpl (Model< Scalar > *const model)

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 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	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.

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

Scalar	uh_hess

Scalar	uh_hess_pow2

Scalar	uh_jac
	Disturbance value used for computing \( \ell_\mathbf{u} \).

Scalar	x_norm
	Norm of the state vector.

Scalar	xh_hess

Scalar	xh_hess_pow2

Scalar	xh_jac
	Disturbance value used for computing \( \ell_\mathbf{x} \).

VectorXs	xnext
	evolution state

VectorXs	xp

Scalar	xuh_hess_pow2

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::ActionDataNumDiffTpl< _Scalar >

Definition at line 175 of file action.hpp.

Constructor & Destructor Documentation

◆ ActionDataNumDiffTpl()

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 191 of file action.hpp.

Member Data Documentation

◆ xh_hess

Scalar xh_hess

Disturbance value used for computing \( < \ell_\mathbf{xx} \)

Definition at line 232 of file action.hpp.

◆ uh_hess

Scalar uh_hess

Disturbance value used for computing \( < \ell_\mathbf{uu} \)

Definition at line 234 of file action.hpp.

◆ xp

VectorXs xp

The integrated state from the disturbance on one DoF " \_form#87@_fakenl"

Definition at line 243 of file action.hpp.

◆ 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 files:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/core/numdiff/action.hpp

Public Types

Public Member Functions

Public Attributes