Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
IntegratedActionDataEulerTpl< _Scalar > Struct Template Reference
Inheritance diagram for IntegratedActionDataEulerTpl< _Scalar >:
IntegratedActionDataAbstractTpl< _Scalar > ActionDataAbstractTpl< _Scalar >

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 Types inherited from IntegratedActionDataAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActionDataAbstractTpl< _Scalar >
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 Member Functions inherited from IntegratedActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 IntegratedActionDataAbstractTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

std::shared_ptr< ControlParametrizationDataAbstract > control
 Control parametrization data.
 
Scalar cost
 cost value
 
MatrixXs da_du
 
std::shared_ptr< DifferentialActionDataAbstract > differential
 Differential model data.
 
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 Lu
 Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
 
MatrixXs Luu
 Hessian of the cost w.r.t. the control \(\mathbf{u}\).
 
MatrixXs Lwu
 
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 xnext
 evolution state
 
- Public Attributes inherited from IntegratedActionDataAbstractTpl< _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 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 xnext
 evolution state
 
- Public Attributes inherited from ActionDataAbstractTpl< _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 xnext
 evolution state
 

Detailed Description

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

Definition at line 187 of file euler.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 192 of file euler.hpp.

◆ Base

template<typename _Scalar >
typedef IntegratedActionDataAbstractTpl<Scalar> Base

Definition at line 193 of file euler.hpp.

◆ DifferentialActionDataAbstract

template<typename _Scalar >
typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract

Definition at line 195 of file euler.hpp.

◆ ControlParametrizationDataAbstract

template<typename _Scalar >
typedef ControlParametrizationDataAbstractTpl<Scalar> ControlParametrizationDataAbstract

Definition at line 197 of file euler.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 198 of file euler.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 199 of file euler.hpp.

Constructor & Destructor Documentation

◆ IntegratedActionDataEulerTpl()

template<typename _Scalar >
template<template< typename Scalar > class Model>
IntegratedActionDataEulerTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 202 of file euler.hpp.

◆ ~IntegratedActionDataEulerTpl()

template<typename _Scalar >
virtual ~IntegratedActionDataEulerTpl ( )
inlinevirtual

Definition at line 212 of file euler.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 191 of file euler.hpp.

◆ differential

template<typename _Scalar >
std::shared_ptr<DifferentialActionDataAbstract> differential

Differential model data.

Definition at line 215 of file euler.hpp.

◆ control

template<typename _Scalar >
std::shared_ptr<ControlParametrizationDataAbstract> control

Control parametrization data.

Definition at line 217 of file euler.hpp.

◆ dx

template<typename _Scalar >
VectorXs dx

Definition at line 218 of file euler.hpp.

◆ da_du

template<typename _Scalar >
MatrixXs da_du

Definition at line 219 of file euler.hpp.

◆ Lwu

template<typename _Scalar >
MatrixXs Lwu

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

Definition at line 220 of file euler.hpp.

◆ cost

template<typename _Scalar >
Scalar cost

cost value

Definition at line 190 of file action-base.hpp.

◆ Fu

template<typename _Scalar >
MatrixXs Fu

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

Definition at line 191 of file action-base.hpp.

◆ Fx

template<typename _Scalar >
MatrixXs Fx

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

Definition at line 192 of file action-base.hpp.

◆ Lu

template<typename _Scalar >
VectorXs Lu

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

Definition at line 193 of file action-base.hpp.

◆ Luu

template<typename _Scalar >
MatrixXs Luu

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

Definition at line 194 of file action-base.hpp.

◆ Lx

template<typename _Scalar >
VectorXs Lx

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

Definition at line 195 of file action-base.hpp.

◆ Lxu

template<typename _Scalar >
MatrixXs Lxu

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

Definition at line 196 of file action-base.hpp.

◆ Lxx

template<typename _Scalar >
MatrixXs Lxx

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

Definition at line 197 of file action-base.hpp.

◆ r

template<typename _Scalar >
VectorXs r

Cost residual.

Definition at line 198 of file action-base.hpp.

◆ xnext

template<typename _Scalar >
VectorXs xnext

evolution state

Definition at line 199 of file action-base.hpp.

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