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 |
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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) | |
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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 | |
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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 | |
Definition at line 324 of file contact-fwddyn.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 328 of file contact-fwddyn.hpp.
typedef DifferentialActionDataAbstractTpl<Scalar> Base |
Definition at line 329 of file contact-fwddyn.hpp.
typedef JointDataAbstractTpl<Scalar> JointDataAbstract |
Definition at line 330 of file contact-fwddyn.hpp.
typedef DataCollectorJointActMultibodyInContactTpl<Scalar> DataCollectorJointActMultibodyInContact |
Definition at line 332 of file contact-fwddyn.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 333 of file contact-fwddyn.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 334 of file contact-fwddyn.hpp.
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inlineexplicit |
Definition at line 337 of file contact-fwddyn.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 327 of file contact-fwddyn.hpp.
pinocchio::DataTpl<Scalar> pinocchio |
Definition at line 372 of file contact-fwddyn.hpp.
DataCollectorJointActMultibodyInContact multibody |
Definition at line 373 of file contact-fwddyn.hpp.
std::shared_ptr<CostDataSumTpl<Scalar> > costs |
Definition at line 374 of file contact-fwddyn.hpp.
std::shared_ptr<ConstraintDataManagerTpl<Scalar> > constraints |
Definition at line 375 of file contact-fwddyn.hpp.
MatrixXs Kinv |
Definition at line 376 of file contact-fwddyn.hpp.
MatrixXs df_dx |
Definition at line 377 of file contact-fwddyn.hpp.
MatrixXs df_du |
Definition at line 378 of file contact-fwddyn.hpp.
VectorXs tmp_xstatic |
Definition at line 379 of file contact-fwddyn.hpp.
MatrixXs tmp_Jstatic |
Definition at line 380 of file contact-fwddyn.hpp.
Scalar cost |
cost value
Definition at line 439 of file diff-action-base.hpp.
MatrixXs Fu |
Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).
Definition at line 443 of file diff-action-base.hpp.
MatrixXs Fx |
Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).
Definition at line 441 of file diff-action-base.hpp.
VectorXs Lu |
Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
Definition at line 446 of file diff-action-base.hpp.
MatrixXs Luu |
Hessian of the cost w.r.t. the control \(\mathbf{u}\).
Definition at line 450 of file diff-action-base.hpp.
VectorXs Lx |
Jacobian of the cost w.r.t. the state \(\mathbf{x}\).
Definition at line 445 of file diff-action-base.hpp.
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.
MatrixXs Lxx |
Hessian of the cost w.r.t. the state \(\mathbf{x}\).
Definition at line 447 of file diff-action-base.hpp.
VectorXs r |
Cost residual.
Definition at line 444 of file diff-action-base.hpp.
VectorXs xout |
evolution state
Definition at line 440 of file diff-action-base.hpp.