ResidualDataNumDiffTpl< _Scalar > Struct Template Reference

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

Public Attributes
std::shared_ptr< Base >	data_0
	The data at the approximation point.
std::vector< std::shared_ptr< Base > >	data_u
	The temporary data associated with the control variation.
std::vector< std::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

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

Definition at line 146 of file residual.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 150 of file residual.hpp.

Base

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 151 of file residual.hpp.

DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 152 of file residual.hpp.

ActivationDataAbstract

template<typename _Scalar >

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

Definition at line 153 of file residual.hpp.

VectorXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 154 of file residual.hpp.

Constructor & Destructor Documentation

ResidualDataNumDiffTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

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.

~ResidualDataNumDiffTpl()

template<typename _Scalar >

virtual ~ResidualDataNumDiffTpl ( )

inlinevirtual

Definition at line 186 of file residual.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 149 of file residual.hpp.

x_norm

template<typename _Scalar >

Scalar x_norm

Norm of the state vector.

Definition at line 193 of file residual.hpp.

xh_jac

template<typename _Scalar >

Scalar xh_jac

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

Definition at line 195 of file residual.hpp.

uh_jac

template<typename _Scalar >

Scalar uh_jac

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

Definition at line 197 of file residual.hpp.

dx

template<typename _Scalar >

VectorXs dx

State disturbance.

Definition at line 198 of file residual.hpp.

xp

template<typename _Scalar >

VectorXs xp

The integrated state from the disturbance on one DoF "\iline 200 \_form#91@_fakenl".

Definition at line 199 of file residual.hpp.

du

template<typename _Scalar >

VectorXs du

Control disturbance.

Definition at line 201 of file residual.hpp.

up

template<typename _Scalar >

VectorXs up

The integrated control from the disturbance on one DoF "\iline 203 \_form#99@_fakenl".

Definition at line 202 of file residual.hpp.

data_0

template<typename _Scalar >

std::shared_ptr<Base> data_0

The data at the approximation point.

Definition at line 204 of file residual.hpp.

data_x

template<typename _Scalar >

std::vector<std::shared_ptr<Base> > data_x

The temporary data associated with the state variation.

Definition at line 206 of file residual.hpp.

data_u

template<typename _Scalar >

std::vector<std::shared_ptr<Base> > data_u

The temporary data associated with the control variation.

Definition at line 208 of file residual.hpp.

r

template<typename _Scalar >

VectorXs r

Residual vector.

Definition at line 265 of file residual-base.hpp.

Ru

template<typename _Scalar >

MatrixXs Ru

Jacobian of the residual vector with respect the control.

Definition at line 267 of file residual-base.hpp.

Rx

template<typename _Scalar >

MatrixXs Rx

Jacobian of the residual vector with respect the state.

Definition at line 266 of file residual-base.hpp.

shared

template<typename _Scalar >

DataCollectorAbstract* shared

Shared data allocated by the action model.

Definition at line 264 of file residual-base.hpp.

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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