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boost::shared_ptr< Base > | data_0 |
| The data at the approximation point.
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std::vector< boost::shared_ptr< Base > > | data_u |
| The temporary data associated with the control variation.
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std::vector< boost::shared_ptr< Base > > | data_x |
| The temporary data associated with the state variation.
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VectorXs | du |
| Control disturbance.
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VectorXs | dx |
| State disturbance.
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VectorXs | r |
| Residual vector.
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MatrixXs | Ru |
| Jacobian of the residual vector with respect the control.
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MatrixXs | Rx |
| Jacobian of the residual vector with respect the state.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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DataCollectorAbstract * | shared |
| Shared data allocated by the action model.
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VectorXs | up |
| The integrated control from the disturbance on one DoF "\f$ \int u du_i = u + du \f$".
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VectorXs | xp |
| The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
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template<typename _Scalar>
struct crocoddyl::ResidualDataNumDiffTpl< _Scalar >
Definition at line 232 of file fwd.hpp.