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.

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

Public Attributes
Scalar	cost
	cost value

std::shared_ptr< Base >	data_0

std::vector< std::shared_ptr< Base > >	data_u

std::vector< std::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 167 of file diff-action.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 172 of file diff-action.hpp.

◆ Base

template<typename _Scalar >

typedef DifferentialActionDataAbstractTpl<Scalar> Base

Definition at line 173 of file diff-action.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 174 of file diff-action.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 175 of file diff-action.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataNumDiffTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

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 184 of file diff-action.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 171 of file diff-action.hpp.

◆ x_norm

template<typename _Scalar >

Scalar x_norm

Norm of the state vector.

Definition at line 209 of file diff-action.hpp.

◆ xh_jac

template<typename _Scalar >

Scalar xh_jac

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

Definition at line 211 of file diff-action.hpp.

◆ uh_jac

template<typename _Scalar >

Scalar uh_jac

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

Definition at line 213 of file diff-action.hpp.

◆ xh_hess

template<typename _Scalar >

Scalar xh_hess

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

Definition at line 214 of file diff-action.hpp.

◆ uh_hess

template<typename _Scalar >

Scalar uh_hess

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

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

◆ xh_hess_pow2

template<typename _Scalar >

Scalar xh_hess_pow2

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

◆ uh_hess_pow2

template<typename _Scalar >

Scalar uh_hess_pow2

Definition at line 219 of file diff-action.hpp.

◆ xuh_hess_pow2

template<typename _Scalar >

Scalar xuh_hess_pow2

Definition at line 220 of file diff-action.hpp.

◆ Rx

template<typename _Scalar >

MatrixXs Rx

Definition at line 221 of file diff-action.hpp.

◆ Ru

template<typename _Scalar >

MatrixXs Ru

Definition at line 222 of file diff-action.hpp.

◆ dx

template<typename _Scalar >

VectorXs dx

Definition at line 223 of file diff-action.hpp.

◆ du

template<typename _Scalar >

VectorXs du

Definition at line 224 of file diff-action.hpp.

◆ xp

template<typename _Scalar >

VectorXs xp

Definition at line 225 of file diff-action.hpp.

◆ data_0

template<typename _Scalar >

std::shared_ptr<Base> data_0

Definition at line 226 of file diff-action.hpp.

◆ data_x

template<typename _Scalar >

std::vector<std::shared_ptr<Base> > data_x

Definition at line 227 of file diff-action.hpp.

◆ data_u

template<typename _Scalar >

std::vector<std::shared_ptr<Base> > data_u

Definition at line 228 of file diff-action.hpp.

◆ cost

template<typename _Scalar >

Scalar cost

cost value

Definition at line 439 of file diff-action-base.hpp.

◆ Fu

template<typename _Scalar >

MatrixXs Fu

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

Definition at line 443 of file diff-action-base.hpp.

◆ Fx

template<typename _Scalar >

MatrixXs Fx

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

Definition at line 441 of file diff-action-base.hpp.

◆ g

template<typename _Scalar >

VectorXs g

Inequality constraint values.

Definition at line 451 of file diff-action-base.hpp.

◆ Gu

template<typename _Scalar >

MatrixXs Gu

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

Definition at line 454 of file diff-action-base.hpp.

◆ Gx

template<typename _Scalar >

MatrixXs Gx

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

Definition at line 452 of file diff-action-base.hpp.

◆ h

template<typename _Scalar >

VectorXs h

Equality constraint values.

Definition at line 456 of file diff-action-base.hpp.

◆ Hu

template<typename _Scalar >

MatrixXs Hu

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

Definition at line 459 of file diff-action-base.hpp.

◆ Hx

template<typename _Scalar >

MatrixXs Hx

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

Definition at line 457 of file diff-action-base.hpp.

◆ Lu

template<typename _Scalar >

VectorXs Lu

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

Definition at line 446 of file diff-action-base.hpp.

◆ Luu

template<typename _Scalar >

MatrixXs Luu

Hessian of the cost w.r.t. the control \(\mathbf{u}\).

Definition at line 450 of file diff-action-base.hpp.

◆ Lx

template<typename _Scalar >

VectorXs Lx

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

Definition at line 445 of file diff-action-base.hpp.

◆ Lxu

template<typename _Scalar >

MatrixXs Lxu

Hessian of the cost w.r.t. the state \(\mathbf{x}\) and control u

Definition at line 448 of file diff-action-base.hpp.

◆ Lxx

template<typename _Scalar >

MatrixXs Lxx

Hessian of the cost w.r.t. the state \(\mathbf{x}\).

Definition at line 447 of file diff-action-base.hpp.

◆ r

template<typename _Scalar >

VectorXs r

Cost residual.

Definition at line 444 of file diff-action-base.hpp.

◆ xout

template<typename _Scalar >

VectorXs xout

evolution state

Definition at line 440 of file diff-action-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/numdiff/diff-action.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ DifferentialActionDataNumDiffTpl()

Member Data Documentation

◆ Scalar

◆ x_norm

◆ xh_jac

◆ uh_jac

◆ xh_hess

◆ uh_hess

◆ xh_hess_pow2

◆ uh_hess_pow2

◆ xuh_hess_pow2

◆ Rx

◆ Ru

◆ dx

◆ du

◆ xp

◆ data_0

◆ data_x

◆ data_u

◆ cost

◆ Fu

◆ Fx

◆ g

◆ Gu

◆ Gx

◆ h

◆ Hu

◆ Hx

◆ Lu

◆ Luu

◆ Lx

◆ Lxu

◆ Lxx

◆ r

◆ xout