DifferentialActionDataContactInvDynamicsTpl< _Scalar > Struct Template Reference

Inheritance diagram for DifferentialActionDataContactInvDynamicsTpl< _Scalar >:

Classes
struct	ResidualDataActuation
struct	ResidualDataContact

Public Types
typedef DifferentialActionDataAbstractTpl< Scalar >	Base
typedef ConstraintDataManagerTpl< Scalar >	ConstraintDataManager
typedef ContactModelMultipleTpl< Scalar >	ContactModelMultiple
typedef CostDataSumTpl< Scalar >	CostDataSum
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>
	DifferentialActionDataContactInvDynamicsTpl (Model< Scalar > *const model)
Public Member Functions inherited from DifferentialActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	DifferentialActionDataAbstractTpl (Model< Scalar > *const model)

Public Attributes
boost::shared_ptr< ConstraintDataManager >	constraints
	Constraints data.
Scalar	cost
	cost value
boost::shared_ptr< CostDataSum >	costs
	Costs data.
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	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
	Multibody data.
pinocchio::DataTpl< Scalar >	pinocchio
	Pinocchio data.
VectorXs	r
	Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
MatrixXs	tmp_Jstatic
	Jacobian used for computing the quasi-static input.
VectorXs	tmp_rstatic
	Factorization used for computing the quasi-static input.
VectorXs	tmp_xstatic
	State point used for computing the quasi-static input.
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::DifferentialActionDataContactInvDynamicsTpl< _Scalar >

Definition at line 522 of file contact-invdyn.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.

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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-invdyn.hpp