Classes | |
struct | ResidualDataActuation |
Public Types | |
typedef DifferentialActionDataAbstractTpl< Scalar > | Base |
typedef ConstraintDataManagerTpl< Scalar > | ConstraintDataManager |
typedef CostDataSumTpl< Scalar > | CostDataSum |
typedef DataCollectorJointActMultibodyTpl< Scalar > | DataCollectorJointActMultibody |
typedef JointDataAbstractTpl< Scalar > | JointDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
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> | |
DifferentialActionDataFreeInvDynamicsTpl (Model< Scalar > *const model) | |
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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 \(\mathbf{x}\). | |
DataCollectorJointActMultibody | multibody |
Multibody data. | |
pinocchio::DataTpl< Scalar > | pinocchio |
Pinocchio data. | |
VectorXs | r |
Cost residual. | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
VectorXs | tmp_xstatic |
State point used for computing the quasi-static input. | |
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 382 of file free-invdyn.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 386 of file free-invdyn.hpp.
typedef DifferentialActionDataAbstractTpl<Scalar> Base |
Definition at line 387 of file free-invdyn.hpp.
typedef JointDataAbstractTpl<Scalar> JointDataAbstract |
Definition at line 388 of file free-invdyn.hpp.
typedef DataCollectorJointActMultibodyTpl<Scalar> DataCollectorJointActMultibody |
Definition at line 390 of file free-invdyn.hpp.
typedef CostDataSumTpl<Scalar> CostDataSum |
Definition at line 391 of file free-invdyn.hpp.
typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager |
Definition at line 392 of file free-invdyn.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 393 of file free-invdyn.hpp.
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inlineexplicit |
Definition at line 396 of file free-invdyn.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 385 of file free-invdyn.hpp.
pinocchio::DataTpl<Scalar> pinocchio |
Pinocchio data.
Definition at line 414 of file free-invdyn.hpp.
DataCollectorJointActMultibody multibody |
Multibody data.
Definition at line 415 of file free-invdyn.hpp.
std::shared_ptr<CostDataSum> costs |
Costs data.
Definition at line 416 of file free-invdyn.hpp.
std::shared_ptr<ConstraintDataManager> constraints |
Constraints data.
Definition at line 417 of file free-invdyn.hpp.
VectorXs tmp_xstatic |
State point used for computing the quasi-static input.
Definition at line 419 of file free-invdyn.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.