Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	IpoptInterfaceData (const std::size_t nx, const std::size_t ndx, const std::size_t nu)

void	resize (const std::size_t nx, const std::size_t ndx, const std::size_t nu)

Public Attributes
Eigen::VectorXd	dx
	Increment in the tangent space.

Eigen::VectorXd	dxnext
	Increment in the tangent space at next node.

Eigen::MatrixXd	FxJint_dx
	Intermediate computation needed for Jg_ic.

Eigen::MatrixXd	Jdiff_x
	Jacobian of the diff operation w.r.t the first element.

Eigen::MatrixXd	Jdiff_xnext

Eigen::MatrixXd	Jg_dx
	Jacobian of the dynamic constraint w.r.t dx.

Eigen::MatrixXd	Jg_dxnext
	Jacobian of the dynamic constraint w.r.t dxnext.

Eigen::MatrixXd	Jg_ic
	Jacobian of the initial condition constraint w.r.t dx.

Eigen::MatrixXd	Jg_u
	Jacobian of the dynamic constraint w.r.t u.

Eigen::MatrixXd	Jint_dx
	Jacobian of the sum operation w.r.t dx.

Eigen::MatrixXd	Jint_dxnext
	Jacobian of the sum operation w.r.t dx at next node.

Eigen::VectorXd	Ldx
	Jacobian of the cost w.r.t dx.

Eigen::MatrixXd	Ldxdx
	Hessian of the cost w.r.t dxdx.

Eigen::MatrixXd	Ldxu
	Hessian of the cost w.r.t dxu.

Eigen::VectorXd	u
	Control.

Eigen::VectorXd	x
	Integrated state.

Eigen::VectorXd	x_diff
	State difference.

Eigen::VectorXd	xnext
	Integrated state at next node.

Detailed Description

Definition at line 479 of file ipopt-iface.hpp.

Member Data Documentation

Eigen::MatrixXd Jdiff_xnext

Jacobian of the diff operation w.r.t the first element at the next node

Definition at line 555 of file ipopt-iface.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/solvers/ipopt/ipopt-iface.hpp