Inheritance diagram for IntegratedActionDataRK4Tpl< _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:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/integrator/rk4.hpp

Public Types

Public Member Functions

Public Attributes