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typedef DifferentialActionDataAbstractTpl< Scalar > | Base |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef _Scalar | Scalar |
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typedef MathBase::VectorXs | VectorXs |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef MathBase::VectorXs | VectorXs |
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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) |
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Scalar | cost |
| | cost value
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MatrixXs | Fu |
| | Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).
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MatrixXs | Fx |
| | Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).
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VectorXs | Lu |
| | Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
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MatrixXs | Luu |
| | Hessian of the cost w.r.t. the control \(\mathbf{u}\).
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VectorXs | Lx |
| | Jacobian of the cost w.r.t. the state \(\mathbf{x}\).
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| MatrixXs | Lxu |
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MatrixXs | Lxx |
| | Hessian of the cost w.r.t. the state \(\mathbf{x}\).
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VectorXs | r |
| | Cost residual.
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VectorXs | xout |
| | evolution state
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Scalar | cost |
| | cost value
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MatrixXs | Fu |
| | Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).
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MatrixXs | Fx |
| | Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).
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VectorXs | g |
| | Inequality constraint values.
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| MatrixXs | Gu |
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| MatrixXs | Gx |
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VectorXs | h |
| | Equality constraint values.
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| MatrixXs | Hu |
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| MatrixXs | Hx |
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VectorXs | Lu |
| | Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
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MatrixXs | Luu |
| | Hessian of the cost w.r.t. the control \(\mathbf{u}\).
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VectorXs | Lx |
| | Jacobian of the cost w.r.t. the state \(\mathbf{x}\).
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| MatrixXs | Lxu |
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MatrixXs | Lxx |
| | Hessian of the cost w.r.t. the state \(\mathbf{x}\).
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VectorXs | r |
| | Cost residual.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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VectorXs | xout |
| | evolution state
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template<typename _Scalar>
struct crocoddyl::DifferentialActionDataLQRTpl< _Scalar >
Definition at line 99 of file diff-lqr.hpp.
◆ 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:
- /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/actions/diff-lqr.hpp
Public Types inherited from DifferentialActionDataAbstractTpl< _Scalar >
1.9.1