crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
Public Types | Public Member Functions | Public Attributes | List of all members
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< Base > data_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
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
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)
inlineexplicit

Construct a new ActionDataNumDiff object.

Template Parameters
Modelis the type of the ActionModel.
Parameters
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: