crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
IntegratedActionDataEulerTpl< _Scalar > Struct Template Reference

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< ControlParametrizationDataAbstractcontrol
 Control parametrization data.
Scalar cost
 cost value
MatrixXs da_du
boost::shared_ptr< DifferentialActionDataAbstractdifferential
 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.
VectorXs xnext
 evolution state

Detailed Description

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

Definition at line 62 of file fwd.hpp.

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