crocoddyl  1.9.0
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DifferentialActionDataNumDiffTpl< _Scalar > Struct Template Reference

Public Types

typedef DifferentialActionDataAbstractTpl< Scalar > Base
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 DifferentialActionDataNumDiffTpl (Model< Scalar > *const model)
 Construct a new ActionDataNumDiff object. More...

Public Attributes

Scalar cost
 cost value
boost::shared_ptr< Basedata_0
std::vector< boost::shared_ptr< Base > > data_u
std::vector< boost::shared_ptr< Base > > data_x
VectorXs du
VectorXs dx
MatrixXs Fu
 Jacobian of the dynamics.
MatrixXs Fx
 Jacobian of the dynamics.
VectorXs Lu
 Jacobian of the cost function.
MatrixXs Luu
 Hessian of the cost function.
VectorXs Lx
 Jacobian of the cost function.
MatrixXs Lxu
 Hessian of the cost function.
MatrixXs Lxx
 Hessian of the cost function.
VectorXs r
 Cost residual.
MatrixXs Ru
MatrixXs Rx
VectorXs xout
 evolution state
VectorXs xp

Detailed Description

template<typename _Scalar>
struct crocoddyl::DifferentialActionDataNumDiffTpl< _Scalar >

Definition at line 222 of file fwd.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataNumDiffTpl()

DifferentialActionDataNumDiffTpl ( Model< Scalar > *const  model)

Construct a new ActionDataNumDiff object.

Template Parameters
Modelis the type of the ActionModel.
modelis the object to compute the numerical differentiation from.

Definition at line 147 of file diff-action.hpp.

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