DifferentialActionDataContactFwdDynamicsTpl< _Scalar > Struct Template Reference

Inheritance diagram for DifferentialActionDataContactFwdDynamicsTpl< _Scalar >:

Public Types
typedef DifferentialActionDataAbstractTpl< Scalar >	Base
typedef DataCollectorJointActMultibodyInContactTpl< Scalar >	DataCollectorJointActMultibodyInContact
typedef JointDataAbstractTpl< Scalar >	JointDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs
Public Types inherited from DifferentialActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	DifferentialActionDataContactFwdDynamicsTpl (Model< Scalar > *const model)
Public Member Functions inherited from DifferentialActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	DifferentialActionDataAbstractTpl (Model< Scalar > *const model)

Public Attributes
std::shared_ptr< ConstraintDataManagerTpl< Scalar > >	constraints
Scalar	cost
	cost value
std::shared_ptr< CostDataSumTpl< Scalar > >	costs
MatrixXs	df_du
MatrixXs	df_dx
MatrixXs	Fu
	Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).
MatrixXs	Fx
	Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).
MatrixXs	Kinv
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 \(\mathbf{x}\).
DataCollectorJointActMultibodyInContact	multibody
pinocchio::DataTpl< Scalar >	pinocchio
VectorXs	r
	Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
MatrixXs	tmp_Jstatic
VectorXs	tmp_xstatic
VectorXs	xout
	evolution state
Public Attributes inherited from DifferentialActionDataAbstractTpl< _Scalar >
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::DifferentialActionDataContactFwdDynamicsTpl< _Scalar >

Definition at line 324 of file contact-fwddyn.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 328 of file contact-fwddyn.hpp.

Base

template<typename _Scalar >

typedef DifferentialActionDataAbstractTpl<Scalar> Base

Definition at line 329 of file contact-fwddyn.hpp.

JointDataAbstract

template<typename _Scalar >

typedef JointDataAbstractTpl<Scalar> JointDataAbstract

Definition at line 330 of file contact-fwddyn.hpp.

DataCollectorJointActMultibodyInContact

template<typename _Scalar >

typedef DataCollectorJointActMultibodyInContactTpl<Scalar> DataCollectorJointActMultibodyInContact

Definition at line 332 of file contact-fwddyn.hpp.

VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 333 of file contact-fwddyn.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 334 of file contact-fwddyn.hpp.

Constructor & Destructor Documentation

DifferentialActionDataContactFwdDynamicsTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

DifferentialActionDataContactFwdDynamicsTpl ( Model< Scalar > *const  model )

inlineexplicit

Definition at line 337 of file contact-fwddyn.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 327 of file contact-fwddyn.hpp.

pinocchio

template<typename _Scalar >

pinocchio::DataTpl<Scalar> pinocchio

Definition at line 372 of file contact-fwddyn.hpp.

multibody

template<typename _Scalar >

DataCollectorJointActMultibodyInContact multibody

Definition at line 373 of file contact-fwddyn.hpp.

costs

template<typename _Scalar >

std::shared_ptr<CostDataSumTpl<Scalar> > costs

Definition at line 374 of file contact-fwddyn.hpp.

constraints

template<typename _Scalar >

std::shared_ptr<ConstraintDataManagerTpl<Scalar> > constraints

Definition at line 375 of file contact-fwddyn.hpp.

Kinv

template<typename _Scalar >

MatrixXs Kinv

Definition at line 376 of file contact-fwddyn.hpp.

df_dx

template<typename _Scalar >

MatrixXs df_dx

Definition at line 377 of file contact-fwddyn.hpp.

df_du

template<typename _Scalar >

MatrixXs df_du

Definition at line 378 of file contact-fwddyn.hpp.

tmp_xstatic

template<typename _Scalar >

VectorXs tmp_xstatic

Definition at line 379 of file contact-fwddyn.hpp.

tmp_Jstatic

template<typename _Scalar >

MatrixXs tmp_Jstatic

Definition at line 380 of file contact-fwddyn.hpp.

cost

template<typename _Scalar >

Scalar cost

cost value

Definition at line 439 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.

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.

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.

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.

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.

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.

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.

r

template<typename _Scalar >

VectorXs r

Cost residual.

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

xout

template<typename _Scalar >

VectorXs xout

evolution state

Definition at line 440 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/multibody/actions/contact-fwddyn.hpp