Inheritance diagram for ResidualDataNumDiffTpl< _Scalar >:

Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract

typedef ResidualDataAbstractTpl< Scalar >	Base

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Types inherited from ResidualDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ResidualDataNumDiffTpl (Model< Scalar > const model, DataCollectorAbstract const shared_data)
	Initialize the numdiff residual data. More...

Public Member Functions inherited from ResidualDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	ResidualDataAbstractTpl (Model< Scalar > const model, DataCollectorAbstract const data)

Public Attributes
boost::shared_ptr< Base >	data_0
	The data at the approximation point.

std::vector< boost::shared_ptr< Base > >	data_u
	The temporary data associated with the control variation.

std::vector< boost::shared_ptr< Base > >	data_x
	The temporary data associated with the state variation.

VectorXs	du
	Control disturbance.

VectorXs	dx
	State disturbance.

VectorXs	r
	Residual vector.

MatrixXs	Ru
	Jacobian of the residual vector with respect the control.

MatrixXs	Rx
	Jacobian of the residual vector with respect the state.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

DataCollectorAbstract *	shared
	Shared data allocated by the action model.

Scalar	uh_jac
	Disturbance value used for computing \( \ell_\mathbf{u} \).

VectorXs	up

Scalar	x_norm
	Norm of the state vector.

Scalar	xh_jac
	Disturbance value used for computing \( \ell_\mathbf{x} \).

VectorXs	xp

Public Attributes inherited from ResidualDataAbstractTpl< _Scalar >
MatrixXs	Arr_Ru

MatrixXs	Arr_Rx

VectorXs	r
	Residual vector.

MatrixXs	Ru
	Jacobian of the residual vector with respect the control.

MatrixXs	Rx
	Jacobian of the residual vector with respect the state.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

DataCollectorAbstract *	shared
	Shared data allocated by the action model.

Detailed Description

Definition at line 146 of file residual.hpp.

Constructor & Destructor Documentation

ResidualDataNumDiffTpl	(	Model< Scalar > *const	model,
		DataCollectorAbstract *const	shared_data
	)

inlineexplicit

Initialize the numdiff residual data.

Template Parameters

Model is the type of the ResidualModelAbstractTpl.

Parameters

model is the object to compute the numerical differentiation from.

Definition at line 163 of file residual.hpp.

VectorXs xp

The integrated state from the disturbance on one DoF " \_form#87@_fakenl".

Definition at line 199 of file residual.hpp.

VectorXs up

The integrated control from the disturbance on one DoF " \_form#95@_fakenl".

Definition at line 202 of file residual.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/numdiff/residual.hpp