Crocoddyl
 
Loading...
Searching...
No Matches
Public Types | Public Member Functions | Public Attributes | List of all members
IntegratedActionDataRK4Tpl< _Scalar > Struct Template Reference
Inheritance diagram for IntegratedActionDataRK4Tpl< _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>
 IntegratedActionDataRK4Tpl (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::vector< std::shared_ptr< ControlParametrizationDataAbstract > > control
 List of control parametrization data.
 
Scalar cost
 cost value
 
std::vector< MatrixXs > ddli_ddu
 
std::vector< MatrixXs > ddli_ddw
 
std::vector< MatrixXs > ddli_ddx
 
std::vector< MatrixXs > ddli_dwdu
 
std::vector< MatrixXs > ddli_dxdu
 
std::vector< MatrixXs > ddli_dxdw
 
std::vector< std::shared_ptr< DifferentialActionDataAbstract > > differential
 List of differential model data.
 
std::vector< MatrixXs > dki_du
 
std::vector< MatrixXs > dki_dx
 
std::vector< VectorXs > dli_du
 
std::vector< VectorXs > dli_dx
 
VectorXs dx
 State rate.
 
std::vector< VectorXs > dx_rk4
 
std::vector< MatrixXs > dyi_du
 
std::vector< MatrixXs > dyi_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 \(\mathbf{x}\).
 
std::vector< Scalar > integral
 
std::vector< VectorXs > ki
 List of RK4 terms related to system dynamics.
 
VectorXs Lu
 Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
 
MatrixXs Luu
 Hessian of the cost w.r.t. the control \(\mathbf{u}\).
 
std::vector< MatrixXs > Luu_partialx
 
VectorXs Lx
 Jacobian of the cost w.r.t. the state \(\mathbf{x}\).
 
MatrixXs Lxu
 
std::vector< MatrixXs > Lxu_i
 
MatrixXs Lxx
 Hessian of the cost w.r.t. the state \(\mathbf{x}\).
 
std::vector< MatrixXs > Lxx_partialu
 
std::vector< MatrixXs > Lxx_partialx
 
VectorXs r
 Cost residual.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
std::vector< VectorXs > ws
 Control inputs evaluated in the RK4 integration.
 
VectorXs xnext
 evolution state
 
std::vector< VectorXs > y
 List of states where f is evaluated in the RK4 integration.
 
- 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::IntegratedActionDataRK4Tpl< _Scalar >

Definition at line 189 of file rk4.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 194 of file rk4.hpp.

◆ Base

template<typename _Scalar >
typedef IntegratedActionDataAbstractTpl<Scalar> Base

Definition at line 195 of file rk4.hpp.

◆ DifferentialActionDataAbstract

template<typename _Scalar >
typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract

Definition at line 197 of file rk4.hpp.

◆ ControlParametrizationDataAbstract

template<typename _Scalar >
typedef ControlParametrizationDataAbstractTpl<Scalar> ControlParametrizationDataAbstract

Definition at line 199 of file rk4.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 200 of file rk4.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 201 of file rk4.hpp.

Constructor & Destructor Documentation

◆ IntegratedActionDataRK4Tpl()

template<typename _Scalar >
template<template< typename Scalar > class Model>
IntegratedActionDataRK4Tpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 204 of file rk4.hpp.

◆ ~IntegratedActionDataRK4Tpl()

template<typename _Scalar >
virtual ~IntegratedActionDataRK4Tpl ( )
inlinevirtual

Definition at line 253 of file rk4.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 193 of file rk4.hpp.

◆ differential

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

List of differential model data.

Definition at line 256 of file rk4.hpp.

◆ control

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

List of control parametrization data.

Definition at line 258 of file rk4.hpp.

◆ integral

template<typename _Scalar >
std::vector<Scalar> integral

Definition at line 259 of file rk4.hpp.

◆ dx

template<typename _Scalar >
VectorXs dx

State rate.

Definition at line 260 of file rk4.hpp.

◆ ki

template<typename _Scalar >
std::vector<VectorXs> ki

List of RK4 terms related to system dynamics.

Definition at line 261 of file rk4.hpp.

◆ y

template<typename _Scalar >
std::vector<VectorXs> y

List of states where f is evaluated in the RK4 integration.

Definition at line 263 of file rk4.hpp.

◆ ws

template<typename _Scalar >
std::vector<VectorXs> ws

Control inputs evaluated in the RK4 integration.

Definition at line 265 of file rk4.hpp.

◆ dx_rk4

template<typename _Scalar >
std::vector<VectorXs> dx_rk4

Definition at line 266 of file rk4.hpp.

◆ dki_dx

template<typename _Scalar >
std::vector<MatrixXs> dki_dx

List of partial derivatives of RK4 nodes with respect to the state of the RK4 integration. dki/dx

Definition at line 269 of file rk4.hpp.

◆ dki_du

template<typename _Scalar >
std::vector<MatrixXs> dki_du

List of partial derivatives of RK4 nodes with respect to the control parameters of the RK4 integration. dki/du

Definition at line 272 of file rk4.hpp.

◆ dyi_dx

template<typename _Scalar >
std::vector<MatrixXs> dyi_dx

List of partial derivatives of RK4 dynamics with respect to the state of the RK4 integrator. dyi/dx

Definition at line 276 of file rk4.hpp.

◆ dyi_du

template<typename _Scalar >
std::vector<MatrixXs> dyi_du

List of partial derivatives of RK4 dynamics with respect to the control parameters of the RK4 integrator. dyi/du

Definition at line 279 of file rk4.hpp.

◆ dli_dx

template<typename _Scalar >
std::vector<VectorXs> dli_dx

List of partial derivatives of the cost with respect to the state of the RK4 integration. dli_dx

Definition at line 283 of file rk4.hpp.

◆ dli_du

template<typename _Scalar >
std::vector<VectorXs> dli_du

List of partial derivatives of the cost with respect to the control input of the RK4 integration. dli_du

Definition at line 286 of file rk4.hpp.

◆ ddli_ddx

template<typename _Scalar >
std::vector<MatrixXs> ddli_ddx

List of second partial derivatives of the cost with respect to the state of the RK4 integration. ddli_ddx

Definition at line 290 of file rk4.hpp.

◆ ddli_ddw

template<typename _Scalar >
std::vector<MatrixXs> ddli_ddw

List of second partial derivatives of the cost with respect to the control parameters of the RK4 integration. ddli_ddw

Definition at line 293 of file rk4.hpp.

◆ ddli_ddu

template<typename _Scalar >
std::vector<MatrixXs> ddli_ddu

List of second partial derivatives of the cost with respect to the control input of the RK4 integration. ddli_ddu

Definition at line 296 of file rk4.hpp.

◆ ddli_dxdw

template<typename _Scalar >
std::vector<MatrixXs> ddli_dxdw

List of second partial derivatives of the cost with respect to the state and control input of the RK4 integration. ddli_dxdw

Definition at line 300 of file rk4.hpp.

◆ ddli_dxdu

template<typename _Scalar >
std::vector<MatrixXs> ddli_dxdu

List of second partial derivatives of the cost with respect to the state and control parameters of the RK4 integration. ddli_dxdu

Definition at line 304 of file rk4.hpp.

◆ ddli_dwdu

template<typename _Scalar >
std::vector<MatrixXs> ddli_dwdu

List of second partial derivatives of the cost with respect to the control parameters and inputs control of the RK4 integration. ddli_dwdu

Definition at line 308 of file rk4.hpp.

◆ Luu_partialx

template<typename _Scalar >
std::vector<MatrixXs> Luu_partialx

Definition at line 312 of file rk4.hpp.

◆ Lxu_i

template<typename _Scalar >
std::vector<MatrixXs> Lxu_i

Definition at line 313 of file rk4.hpp.

◆ Lxx_partialx

template<typename _Scalar >
std::vector<MatrixXs> Lxx_partialx

Definition at line 314 of file rk4.hpp.

◆ Lxx_partialu

template<typename _Scalar >
std::vector<MatrixXs> Lxx_partialu

Definition at line 315 of file rk4.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: