crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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DifferentialActionDataFreeFwdDynamicsTpl< _Scalar > Struct Template Reference
Inheritance diagram for DifferentialActionDataFreeFwdDynamicsTpl< _Scalar >:
Collaboration diagram for DifferentialActionDataFreeFwdDynamicsTpl< _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>
 DifferentialActionDataFreeFwdDynamicsTpl (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 dtau_dx
 
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...
 
MatrixXs Minv
 
DataCollectorActMultibodyTpl< Scalar > multibody
 
pinocchio::DataTpl< Scalar > pinocchio
 
VectorXs r
 Cost residual. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs tmp_xstatic
 
VectorXs u_drift
 
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::DifferentialActionDataFreeFwdDynamicsTpl< _Scalar >

Definition at line 170 of file free-fwddyn.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 173 of file free-fwddyn.hpp.

◆ Base

Definition at line 174 of file free-fwddyn.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 175 of file free-fwddyn.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 176 of file free-fwddyn.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataFreeFwdDynamicsTpl()

DifferentialActionDataFreeFwdDynamicsTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 179 of file free-fwddyn.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 172 of file free-fwddyn.hpp.

◆ pinocchio

pinocchio::DataTpl<Scalar> pinocchio

Definition at line 195 of file free-fwddyn.hpp.

◆ multibody

DataCollectorActMultibodyTpl<Scalar> multibody

Definition at line 196 of file free-fwddyn.hpp.

◆ costs

boost::shared_ptr<CostDataSumTpl<Scalar> > costs

Definition at line 197 of file free-fwddyn.hpp.

◆ Minv

MatrixXs Minv

Definition at line 198 of file free-fwddyn.hpp.

◆ u_drift

VectorXs u_drift

Definition at line 199 of file free-fwddyn.hpp.

◆ dtau_dx

MatrixXs dtau_dx

Definition at line 200 of file free-fwddyn.hpp.

◆ tmp_xstatic

VectorXs tmp_xstatic

Definition at line 201 of file free-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: