Inheritance diagram for DifferentialActionDataNumDiffTpl< _Scalar >:

Public Types
typedef DifferentialActionDataAbstractTpl< Scalar >	Base

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::VectorXs	VectorXs

Public Types inherited from DifferentialActionDataAbstractTpl< _Scalar >
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 Member Functions inherited from DifferentialActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	DifferentialActionDataAbstractTpl (Model< Scalar > *const model)

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 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.

MatrixXs	Ru

MatrixXs	Rx

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Scalar	uh_hess

Scalar	uh_hess_pow2

Scalar	uh_jac
	Disturbance value used for computing \( \ell_\mathbf{u} \).

Scalar	x_norm
	Norm of the state vector.

Scalar	xh_hess

Scalar	xh_hess_pow2

Scalar	xh_jac
	Disturbance value used for computing \( \ell_\mathbf{x} \).

VectorXs	xout
	evolution state

VectorXs	xp

Scalar	xuh_hess_pow2

Public Attributes inherited from DifferentialActionDataAbstractTpl< _Scalar >
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

Detailed Description

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

Definition at line 169 of file diff-action.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataNumDiffTpl()

DifferentialActionDataNumDiffTpl ( Model< Scalar > *const model )

inlineexplicit

Construct a new ActionDataNumDiff object.

Template Parameters

Model is the type of the ActionModel.

Parameters

model is the object to compute the numerical differentiation from.

Definition at line 186 of file diff-action.hpp.

Member Data Documentation

◆ xh_hess

Scalar xh_hess

Disturbance value used for computing \( < \ell_\mathbf{xx} \)

Definition at line 216 of file diff-action.hpp.

◆ uh_hess

Scalar uh_hess

Disturbance value used for computing \( < \ell_\mathbf{uu} \)

Definition at line 218 of file diff-action.hpp.

◆ Gu

MatrixXs Gu

Jacobian of the inequality constraint w.r.t. the control \(\mathbf{u}\)

Definition at line 430 of file diff-action-base.hpp.

◆ Gx

MatrixXs Gx

Jacobian of the inequality constraint w.r.t. the state \(\mathbf{x}\)

Definition at line 428 of file diff-action-base.hpp.

◆ Hu

MatrixXs Hu

Jacobian of the equality constraint w.r.t the control \(\mathbf{u}\)

Definition at line 435 of file diff-action-base.hpp.

◆ Hx

MatrixXs Hx

Jacobian of the equality constraint w.r.t. the state \(\mathbf{x}\)

Definition at line 433 of file diff-action-base.hpp.

◆ Lxu

MatrixXs 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 files:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/core/numdiff/diff-action.hpp

Public Types

Public Member Functions

Public Attributes