crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
CostDataNumDiffTpl< _Scalar > Struct Template Reference
Inheritance diagram for CostDataNumDiffTpl< _Scalar >:
Collaboration diagram for CostDataNumDiffTpl< _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)
 

Public Attributes

boost::shared_ptr< ActivationDataAbstractactivation
 
Scalar cost
 
boost::shared_ptr< Basedata_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< ResidualDataAbstractresidual
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 
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< ActivationDataAbstractactivation
 
Scalar cost
 
VectorXs Lu
 
MatrixXs Luu
 
VectorXs Lx
 
MatrixXs Lxu
 
MatrixXs Lxx
 
boost::shared_ptr< ResidualDataAbstractresidual
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 

Detailed Description

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

Definition at line 143 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 160 of file cost.hpp.


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