DifferentialActionDataAbstractTpl< _Scalar > Struct Template Reference

Inheritance diagram for DifferentialActionDataAbstractTpl< _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 385 of file diff-action-base.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 389 of file diff-action-base.hpp.

VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 390 of file diff-action-base.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 391 of file diff-action-base.hpp.

Constructor & Destructor Documentation

DifferentialActionDataAbstractTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

DifferentialActionDataAbstractTpl ( Model< Scalar > *const  model )

inlineexplicit

Definition at line 394 of file diff-action-base.hpp.

~DifferentialActionDataAbstractTpl()

template<typename _Scalar >

virtual ~DifferentialActionDataAbstractTpl ( )

inlinevirtual

Definition at line 437 of file diff-action-base.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 388 of file diff-action-base.hpp.

cost

template<typename _Scalar >

Scalar cost

cost value

Definition at line 439 of file diff-action-base.hpp.

xout

template<typename _Scalar >

VectorXs xout

evolution state

Definition at line 440 of file diff-action-base.hpp.

Fx

template<typename _Scalar >

MatrixXs Fx

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

Definition at line 441 of file diff-action-base.hpp.

Fu

template<typename _Scalar >

MatrixXs Fu

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

Definition at line 443 of file diff-action-base.hpp.

r

template<typename _Scalar >

VectorXs r

Cost residual.

Definition at line 444 of file diff-action-base.hpp.

Lx

template<typename _Scalar >

VectorXs Lx

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

Definition at line 445 of file diff-action-base.hpp.

Lu

template<typename _Scalar >

VectorXs Lu

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

Definition at line 446 of file diff-action-base.hpp.

Lxx

template<typename _Scalar >

MatrixXs Lxx

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

Definition at line 447 of file diff-action-base.hpp.

Lxu

template<typename _Scalar >

MatrixXs Lxu

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

Definition at line 448 of file diff-action-base.hpp.

Luu

template<typename _Scalar >

MatrixXs Luu

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

Definition at line 450 of file diff-action-base.hpp.

g

template<typename _Scalar >

VectorXs g

Inequality constraint values.

Definition at line 451 of file diff-action-base.hpp.

Gx

template<typename _Scalar >

MatrixXs Gx

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

Definition at line 452 of file diff-action-base.hpp.

Gu

template<typename _Scalar >

MatrixXs Gu

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

Definition at line 454 of file diff-action-base.hpp.

h

template<typename _Scalar >

VectorXs h

Equality constraint values.

Definition at line 456 of file diff-action-base.hpp.

Hx

template<typename _Scalar >

MatrixXs Hx

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

Definition at line 457 of file diff-action-base.hpp.

Hu

template<typename _Scalar >

MatrixXs Hu

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

Definition at line 459 of file diff-action-base.hpp.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/diff-action-base.hpp