Public Types | |
typedef DifferentialActionDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef _Scalar | Scalar |
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> | |
DifferentialActionDataLQRTpl (Model< Scalar > *const model) | |
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template<template< typename Scalar > class Model> | |
DifferentialActionDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
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 \(\mathbf{x}\). | |
MatrixXs | Gu |
MatrixXs | Gx |
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. | |
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 304 of file diff-lqr.hpp.
MatrixXs Gu |
Jacobian of the inequality constraint w.r.t. the control \(\mathbf{u}\)
Definition at line 456 of file diff-action-base.hpp.
MatrixXs Gx |
Jacobian of the inequality constraint w.r.t. the state \(\mathbf{x}\)
Definition at line 454 of file diff-action-base.hpp.
MatrixXs Hu |
Jacobian of the equality constraint w.r.t the control \(\mathbf{u}\)
Definition at line 461 of file diff-action-base.hpp.
MatrixXs Hx |
Jacobian of the equality constraint w.r.t. the state \(\mathbf{x}\)
Definition at line 459 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 450 of file diff-action-base.hpp.