Crocoddyl
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< boost::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< boost::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 Data Documentation

◆ dki_dx

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

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

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

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

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

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

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

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

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

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

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

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.

◆ Lxu

MatrixXs Lxu

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

Definition at line 382 of file action-base.hpp.


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