Crocoddyl
Public Types | Public Member Functions | Public Attributes | List of all members
DifferentialActionDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for DifferentialActionDataAbstractTpl< _Scalar >:
DifferentialActionDataContactFwdDynamicsTpl< _Scalar > DifferentialActionDataContactInvDynamicsTpl< _Scalar > DifferentialActionDataFreeFwdDynamicsTpl< _Scalar > DifferentialActionDataFreeInvDynamicsTpl< _Scalar > DifferentialActionDataLQRTpl< _Scalar > DifferentialActionDataNumDiffTpl< _Scalar >

Public Types

typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 DifferentialActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

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 xout
 evolution state
 

Detailed Description

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

Definition at line 371 of file diff-action-base.hpp.

Member Data Documentation

◆ Lxu

MatrixXs Lxu

Hessian of the cost w.r.t. the state \(\mathbf{x}\) and control u

Definition at line 424 of file diff-action-base.hpp.

◆ Gx

MatrixXs Gx

Jacobian of the inequality constraint w.r.t. the state \(\mathbf{x}\)

Definition at line 428 of file diff-action-base.hpp.

◆ Gu

MatrixXs Gu

Jacobian of the inequality constraint w.r.t. the control \(\mathbf{u}\)

Definition at line 430 of file diff-action-base.hpp.

◆ Hx

MatrixXs Hx

Jacobian of the equality constraint w.r.t. the state \(\mathbf{x}\)

Definition at line 433 of file diff-action-base.hpp.

◆ Hu

MatrixXs Hu

Jacobian of the equality constraint w.r.t the control \(\mathbf{u}\)

Definition at line 435 of file diff-action-base.hpp.

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