Inheritance diagram for CostDataNumDiffTpl< _Scalar >:

Collaboration diagram for CostDataNumDiffTpl< _Scalar >:

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Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract

typedef CostDataAbstractTpl< Scalar >	Base

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Types inherited from CostDataAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract

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>
	CostDataNumDiffTpl (Model< Scalar > const model, DataCollectorAbstract const shared_data)
	Initialize the numdiff cost data. More...

Public Member Functions inherited from CostDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	CostDataAbstractTpl (Model< Scalar > const model, DataCollectorAbstract const data)

Public Attributes
boost::shared_ptr< ActivationDataAbstract >	activation

Scalar	cost

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.

VectorXs	Lu

MatrixXs	Luu

VectorXs	Lx

MatrixXs	Lxu

MatrixXs	Lxx

boost::shared_ptr< ResidualDataAbstract >	residual

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

DataCollectorAbstract *	shared

VectorXs	up
	The integrated control from the disturbance on one DoF "\f$ \int u du_i = u + du \f$".

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

Public Attributes inherited from CostDataAbstractTpl< _Scalar >
boost::shared_ptr< ActivationDataAbstract >	activation

Scalar	cost

VectorXs	Lu

MatrixXs	Luu

VectorXs	Lx

MatrixXs	Lxu

MatrixXs	Lxx

boost::shared_ptr< ResidualDataAbstract >	residual

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

DataCollectorAbstract *	shared

Detailed Description

Definition at line 143 of file cost.hpp.

Constructor & Destructor Documentation

CostDataNumDiffTpl	(	Model< Scalar > *const	model,
		DataCollectorAbstract *const	shared_data
	)

inlineexplicit

Initialize the numdiff cost data.

Template Parameters

Model is the type of the CostModelAbstractTpl.

Parameters

model is the object to compute the numerical differentiation from.

Definition at line 160 of file cost.hpp.

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