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>
	IntegratedActionDataRKTpl (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
	List of partial derivatives of RK nodes with respect to the state of the RK integration. dki/dx.

std::vector< VectorXs >	dli_du

std::vector< VectorXs >	dli_dx
	List of partial derivatives of the cost with respect to the state of the RK integration. dli_dx.

VectorXs	dx
	State rate.

std::vector< VectorXs >	dx_rk

std::vector< MatrixXs >	dyi_du

std::vector< MatrixXs >	dyi_dx
	List of partial derivatives of RK dynamics with respect to the state of the RK integrator. dyi/dx.

MatrixXs	Fu
	Jacobian of the dynamics.

MatrixXs	Fx
	Jacobian of the dynamics.

std::vector< Scalar >	integral

std::vector< VectorXs >	ki
	List of RK terms related to system dynamics.

VectorXs	Lu
	Jacobian of the cost function.

MatrixXs	Luu
	Hessian of the cost function.

std::vector< MatrixXs >	Luu_partialx

VectorXs	Lx
	Jacobian of the cost function.

MatrixXs	Lxu
	Hessian of the cost function.

std::vector< MatrixXs >	Lxu_i

MatrixXs	Lxx
	Hessian of the cost function.

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 RK integration.

VectorXs	xnext
	evolution state

std::vector< VectorXs >	y
	List of states where f is evaluated in the RK integration.

Detailed Description

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

Definition at line 67 of file fwd.hpp.

Member Data Documentation

◆ dki_du

std::vector<MatrixXs> dki_du

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

Definition at line 240 of file rk.hpp.

◆ dyi_du

std::vector<MatrixXs> dyi_du

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

Definition at line 245 of file rk.hpp.

◆ dli_du

std::vector<VectorXs> dli_du

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

Definition at line 250 of file rk.hpp.

◆ ddli_ddx

std::vector<MatrixXs> ddli_ddx

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

Definition at line 253 of file rk.hpp.

◆ ddli_ddw

std::vector<MatrixXs> ddli_ddw

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

Definition at line 255 of file rk.hpp.

◆ ddli_ddu

std::vector<MatrixXs> ddli_ddu

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

Definition at line 257 of file rk.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 RK integration. ddli_dxdw

Definition at line 259 of file rk.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 RK integration. ddli_dxdu

Definition at line 261 of file rk.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 RK integration. ddli_dwdu

Definition at line 263 of file rk.hpp.

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

include/crocoddyl/core/fwd.hpp
include/crocoddyl/core/integrator/rk.hpp

Public Types

Public Member Functions

Public Attributes