Public Types
typedef IntegratedActionDataAbstractTpl< Scalar >	Base

typedef ControlParametrizationDataAbstractTpl< Scalar >	ControlParametrizationDataAbstract

typedef DifferentialActionDataAbstractTpl< Scalar >	DifferentialActionDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	IntegratedActionDataEulerTpl (Model< Scalar > *const model)

Public Attributes
boost::shared_ptr< ControlParametrizationDataAbstract >	control
	Control parametrization data.

Scalar	cost
	cost value

MatrixXs	da_du

boost::shared_ptr< DifferentialActionDataAbstract >	differential
	Differential model data.

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.

MatrixXs	Lwu
	Hessian of the cost function with respect to the control input (w) and control parameters (u)

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.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

VectorXs	xnext
	evolution state

Detailed Description

Definition at line 62 of file fwd.hpp.

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

Public Types