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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

std::shared_ptr< ConstraintDataManager > constraints
 Constraints data.
 
Scalar cost
 cost value
 
std::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 531 of file contact-invdyn.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 535 of file contact-invdyn.hpp.

◆ Base

template<typename _Scalar >
typedef DifferentialActionDataAbstractTpl<Scalar> Base

Definition at line 536 of file contact-invdyn.hpp.

◆ JointDataAbstract

template<typename _Scalar >
typedef JointDataAbstractTpl<Scalar> JointDataAbstract

Definition at line 537 of file contact-invdyn.hpp.

◆ DataCollectorJointActMultibodyInContact

template<typename _Scalar >
typedef DataCollectorJointActMultibodyInContactTpl<Scalar> DataCollectorJointActMultibodyInContact

Definition at line 539 of file contact-invdyn.hpp.

◆ CostDataSum

template<typename _Scalar >
typedef CostDataSumTpl<Scalar> CostDataSum

Definition at line 540 of file contact-invdyn.hpp.

◆ ConstraintDataManager

template<typename _Scalar >
typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager

Definition at line 541 of file contact-invdyn.hpp.

◆ ContactModelMultiple

template<typename _Scalar >
typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Definition at line 542 of file contact-invdyn.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 543 of file contact-invdyn.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 544 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataContactInvDynamicsTpl()

template<typename _Scalar >
template<template< typename Scalar > class Model>
DifferentialActionDataContactInvDynamicsTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 547 of file contact-invdyn.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 534 of file contact-invdyn.hpp.

◆ pinocchio

template<typename _Scalar >
pinocchio::DataTpl<Scalar> pinocchio

Pinocchio data.

Definition at line 588 of file contact-invdyn.hpp.

◆ multibody

template<typename _Scalar >
DataCollectorJointActMultibodyInContact multibody

Multibody data.

Definition at line 589 of file contact-invdyn.hpp.

◆ costs

template<typename _Scalar >
std::shared_ptr<CostDataSum> costs

Costs data.

Definition at line 590 of file contact-invdyn.hpp.

◆ constraints

template<typename _Scalar >
std::shared_ptr<ConstraintDataManager> constraints

Constraints data.

Definition at line 591 of file contact-invdyn.hpp.

◆ tmp_xstatic

template<typename _Scalar >
VectorXs tmp_xstatic

State point used for computing the quasi-static input.

Definition at line 593 of file contact-invdyn.hpp.

◆ tmp_rstatic

template<typename _Scalar >
VectorXs tmp_rstatic

Factorization used for computing the quasi-static input.

Definition at line 595 of file contact-invdyn.hpp.

◆ tmp_Jstatic

template<typename _Scalar >
MatrixXs tmp_Jstatic

Jacobian used for computing the quasi-static input.

Definition at line 596 of file contact-invdyn.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.

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