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Crocoddyl
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Crocoddyl
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Public Types | |
| typedef ActivationDataAbstractTpl< Scalar > | ActivationDataAbstract |
| typedef ConstraintDataAbstractTpl< Scalar > | Base |
| typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBaseTpl< Scalar >::VectorXs | VectorXs |
 Public Types inherited from ConstraintDataAbstractTpl< _Scalar > | |
| typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::MatrixXs | MatrixXs |
| typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
| typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
| template<template< typename Scalar > class Model> | |
| ConstraintDataNumDiffTpl (Model< Scalar > *const model, DataCollectorAbstract *const shared_data) | |
| Public Member Functions inherited from ConstraintDataAbstractTpl< _Scalar > | |
| template<template< typename Scalar > class Model> | |
| ConstraintDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data) | |
Public Attributes | |
| boost::shared_ptr< Base > | data_0 |
| The data at the approximation point. | |
| 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 | Gu |
| Jacobian of the inequality constraint. | |
| MatrixXs | Gx |
| Jacobian of the inequality constraint. | |
| MatrixXs | Hu |
| Jacobian of the equality constraint. | |
| MatrixXs | Hx |
| Jacobian of the equality constraint. | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| DataCollectorAbstract * | shared |
| Shared data. | |
| Scalar | uh_jac |
| Disturbance value used for computing \( \ell_\mathbf{u} \). | |
| VectorXs | up |
| Scalar | x_norm |
| Norm of the state vector. | |
| Scalar | xh_jac |
| Disturbance value used for computing \( \ell_\mathbf{x} \). | |
| VectorXs | xp |
| Public Attributes inherited from ConstraintDataAbstractTpl< _Scalar > | |
| VectorXs | g |
| Inequality constraint values. | |
| MatrixXs | Gu |
| Jacobian of the inequality constraint. | |
| MatrixXs | Gx |
| Jacobian of the inequality constraint. | |
| VectorXs | h |
| Equality constraint values. | |
| MatrixXs | Hu |
| Jacobian of the equality constraint. | |
| MatrixXs | Hx |
| Jacobian of the equality constraint. | |
| boost::shared_ptr< ResidualDataAbstract > | residual |
| Residual data. | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| DataCollectorAbstract * | shared |
| Shared data. | |
Definition at line 143 of file constraint.hpp.
| VectorXs xp |
The integrated state from the disturbance on one DoF " \_form#87@_fakenl".
Definition at line 191 of file constraint.hpp.
| VectorXs up |
The integrated control from the disturbance on one DoF " \_form#95@_fakenl".
Definition at line 194 of file constraint.hpp.
1.9.1