Crocoddyl
Public Types | Public Member Functions | Public Attributes | List of all members
CostDataNumDiffTpl< _Scalar > Struct Template Reference
Inheritance diagram for CostDataNumDiffTpl< _Scalar >:
CostDataAbstractTpl< _Scalar >

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)
 
 DEPRECATED ("Use residual.r", const VectorXs &get_r() const { return residual->r;};) DEPRECATED("Use residual.Rx"
 
 DEPRECATED ("Use residual.Ru", const MatrixXs &get_Ru() const { return residual->Ru;};) DEPRECATED("Use residual.r"
 
 DEPRECATED ("Use residual.Rx", void set_Rx(const MatrixXs &Rx) { residual->Rx=Rx;};) DEPRECATED("Use residual.Ru"
 
const MatrixXs & get_Rx () const
 
void set_r (const VectorXs &r)
 
void set_Ru (const MatrixXs &Ru)
 

Public Attributes

std::shared_ptr< ActivationDataAbstract > activation
 
Scalar cost
 
std::shared_ptr< Base > data_0
 The data at the approximation point.
 
std::vector< std::shared_ptr< Base > > data_u
 The temporary data associated with the control variation.
 
std::vector< std::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
 
std::shared_ptr< ResidualDataAbstract > residual
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstract * shared
 
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 CostDataAbstractTpl< _Scalar >
std::shared_ptr< ActivationDataAbstract > activation
 
Scalar cost
 
VectorXs Lu
 
MatrixXs Luu
 
VectorXs Lx
 
MatrixXs Lxu
 
MatrixXs Lxx
 
std::shared_ptr< ResidualDataAbstract > residual
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstract * shared
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::CostDataNumDiffTpl< _Scalar >

Definition at line 162 of file cost.hpp.

Constructor & Destructor Documentation

◆ CostDataNumDiffTpl()

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

Initialize the numdiff cost data.

Template Parameters
Modelis the type of the CostModelAbstractTpl.
Parameters
modelis the object to compute the numerical differentiation from.

Definition at line 179 of file cost.hpp.

Member Data Documentation

◆ xp

VectorXs xp

The integrated state from the disturbance on one DoF " \_form#91@_fakenl".

Definition at line 220 of file cost.hpp.

◆ up

VectorXs up

The integrated control from the disturbance on one DoF " \_form#99@_fakenl".

Definition at line 223 of file cost.hpp.

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