Crocoddyl
DifferentialActionDataContactInvDynamicsTpl< _Scalar > Struct Template Reference
Inheritance diagram for DifferentialActionDataContactInvDynamicsTpl< _Scalar >:
DifferentialActionDataAbstractTpl< _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< ConstraintDataManagerconstraints
 Constraints data.
 
Scalar cost
 cost value
 
boost::shared_ptr< CostDataSumcosts
 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.


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