crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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DifferentialActionDataContactFwdDynamicsTpl< _Scalar > Struct Template Reference
Inheritance diagram for DifferentialActionDataContactFwdDynamicsTpl< _Scalar >:
Collaboration diagram for DifferentialActionDataContactFwdDynamicsTpl< _Scalar >:

Public Types

typedef DifferentialActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from DifferentialActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 DifferentialActionDataContactFwdDynamicsTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from DifferentialActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 DifferentialActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

Scalar cost
 cost value More...
 
boost::shared_ptr< CostDataSumTpl< Scalar > > costs
 
MatrixXs df_du
 
MatrixXs df_dx
 
MatrixXs Fu
 Jacobian of the dynamics. More...
 
MatrixXs Fx
 Jacobian of the dynamics. More...
 
MatrixXs Kinv
 
VectorXs Lu
 Jacobian of the cost function. More...
 
MatrixXs Luu
 Hessian of the cost function. More...
 
VectorXs Lx
 Jacobian of the cost function. More...
 
MatrixXs Lxu
 Hessian of the cost function. More...
 
MatrixXs Lxx
 Hessian of the cost function. More...
 
DataCollectorActMultibodyInContactTpl< Scalar > multibody
 
pinocchio::DataTpl< Scalar > pinocchio
 
VectorXs r
 Cost residual. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
MatrixXs tmp_Jstatic
 
VectorXs tmp_xstatic
 
VectorXs xout
 evolution state More...
 
- Public Attributes inherited from DifferentialActionDataAbstractTpl< _Scalar >
Scalar cost
 cost value More...
 
MatrixXs Fu
 Jacobian of the dynamics. More...
 
MatrixXs Fx
 Jacobian of the dynamics. More...
 
VectorXs Lu
 Jacobian of the cost function. More...
 
MatrixXs Luu
 Hessian of the cost function. More...
 
VectorXs Lx
 Jacobian of the cost function. More...
 
MatrixXs Lxu
 Hessian of the cost function. More...
 
MatrixXs Lxx
 Hessian of the cost function. More...
 
VectorXs r
 Cost residual. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xout
 evolution state More...
 

Detailed Description

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

Definition at line 226 of file contact-fwddyn.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 229 of file contact-fwddyn.hpp.

◆ Base

Definition at line 230 of file contact-fwddyn.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 231 of file contact-fwddyn.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 232 of file contact-fwddyn.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataContactFwdDynamicsTpl()

DifferentialActionDataContactFwdDynamicsTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 235 of file contact-fwddyn.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 228 of file contact-fwddyn.hpp.

◆ pinocchio

pinocchio::DataTpl<Scalar> pinocchio

Definition at line 256 of file contact-fwddyn.hpp.

◆ multibody

Definition at line 257 of file contact-fwddyn.hpp.

◆ costs

boost::shared_ptr<CostDataSumTpl<Scalar> > costs

Definition at line 258 of file contact-fwddyn.hpp.

◆ Kinv

MatrixXs Kinv

Definition at line 259 of file contact-fwddyn.hpp.

◆ df_dx

MatrixXs df_dx

Definition at line 260 of file contact-fwddyn.hpp.

◆ df_du

MatrixXs df_du

Definition at line 261 of file contact-fwddyn.hpp.

◆ tmp_xstatic

VectorXs tmp_xstatic

Definition at line 262 of file contact-fwddyn.hpp.

◆ tmp_Jstatic

MatrixXs tmp_Jstatic

Definition at line 263 of file contact-fwddyn.hpp.

◆ cost

Scalar cost

cost value

Definition at line 263 of file diff-action-base.hpp.

◆ Fu

MatrixXs Fu

Jacobian of the dynamics.

Definition at line 266 of file diff-action-base.hpp.

◆ Fx

MatrixXs Fx

Jacobian of the dynamics.

Definition at line 265 of file diff-action-base.hpp.

◆ Lu

VectorXs Lu

Jacobian of the cost function.

Definition at line 269 of file diff-action-base.hpp.

◆ Luu

MatrixXs Luu

Hessian of the cost function.

Definition at line 272 of file diff-action-base.hpp.

◆ Lx

VectorXs Lx

Jacobian of the cost function.

Definition at line 268 of file diff-action-base.hpp.

◆ Lxu

MatrixXs Lxu

Hessian of the cost function.

Definition at line 271 of file diff-action-base.hpp.

◆ Lxx

MatrixXs Lxx

Hessian of the cost function.

Definition at line 270 of file diff-action-base.hpp.

◆ r

VectorXs r

Cost residual.

Definition at line 267 of file diff-action-base.hpp.

◆ xout

VectorXs xout

evolution state

Definition at line 264 of file diff-action-base.hpp.


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