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

Public Types

typedef IntegratedActionDataAbstractTpl< Scalar > Base
 
typedef ControlParametrizationDataAbstractTpl< Scalar > ControlParametrizationDataAbstract
 
typedef DifferentialActionDataAbstractTpl< Scalar > DifferentialActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from IntegratedActionDataAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 IntegratedActionDataRKTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from IntegratedActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 IntegratedActionDataAbstractTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

std::vector< boost::shared_ptr< ControlParametrizationDataAbstract > > control
 List of control parametrization data. More...
 
Scalar cost
 cost value More...
 
std::vector< MatrixXs > ddli_ddu
 
std::vector< MatrixXs > ddli_ddw
 
std::vector< MatrixXs > ddli_ddx
 
std::vector< MatrixXs > ddli_dwdu
 
std::vector< MatrixXs > ddli_dxdu
 
std::vector< MatrixXs > ddli_dxdw
 
std::vector< boost::shared_ptr< DifferentialActionDataAbstract > > differential
 List of differential model data. More...
 
std::vector< MatrixXs > dki_du
 
std::vector< MatrixXs > dki_dx
 List of partial derivatives of RK nodes with respect to the state of the RK integration. dki/dx. More...
 
std::vector< VectorXs > dli_du
 
std::vector< VectorXs > dli_dx
 List of partial derivatives of the cost with respect to the state of the RK integration. dli_dx. More...
 
VectorXs dx
 State rate. More...
 
std::vector< VectorXs > dx_rk
 
std::vector< MatrixXs > dyi_du
 
std::vector< MatrixXs > dyi_dx
 List of partial derivatives of RK dynamics with respect to the state of the RK integrator. dyi/dx. More...
 
MatrixXs Fu
 Jacobian of the dynamics. More...
 
MatrixXs Fx
 Jacobian of the dynamics. More...
 
std::vector< Scalar > integral
 
std::vector< VectorXs > ki
 List of RK terms related to system dynamics. More...
 
VectorXs Lu
 Jacobian of the cost function. More...
 
MatrixXs Luu
 Hessian of the cost function. More...
 
std::vector< MatrixXs > Luu_partialx
 
VectorXs Lx
 Jacobian of the cost function. More...
 
MatrixXs Lxu
 Hessian of the cost function. More...
 
std::vector< MatrixXs > Lxu_i
 
MatrixXs Lxx
 Hessian of the cost function. More...
 
std::vector< MatrixXs > Lxx_partialu
 
std::vector< MatrixXs > Lxx_partialx
 
VectorXs r
 Cost residual. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
std::vector< VectorXs > ws
 Control inputs evaluated in the RK integration. More...
 
VectorXs xnext
 evolution state More...
 
std::vector< VectorXs > y
 List of states where f is evaluated in the RK integration. More...
 
- Public Attributes inherited from IntegratedActionDataAbstractTpl< _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 xnext
 evolution state More...
 
- Public Attributes inherited from ActionDataAbstractTpl< _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 xnext
 evolution state More...
 

Detailed Description

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

Definition at line 178 of file rk.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 182 of file rk.hpp.

◆ Base

Definition at line 183 of file rk.hpp.

◆ DifferentialActionDataAbstract

Definition at line 184 of file rk.hpp.

◆ ControlParametrizationDataAbstract

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 186 of file rk.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 187 of file rk.hpp.

Constructor & Destructor Documentation

◆ IntegratedActionDataRKTpl()

IntegratedActionDataRKTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 190 of file rk.hpp.

◆ ~IntegratedActionDataRKTpl()

virtual ~IntegratedActionDataRKTpl ( )
inlinevirtual

Definition at line 226 of file rk.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 181 of file rk.hpp.

◆ differential

std::vector<boost::shared_ptr<DifferentialActionDataAbstract> > differential

List of differential model data.

Definition at line 228 of file rk.hpp.

◆ control

std::vector<boost::shared_ptr<ControlParametrizationDataAbstract> > control

List of control parametrization data.

Definition at line 230 of file rk.hpp.

◆ integral

std::vector<Scalar> integral

Definition at line 231 of file rk.hpp.

◆ dx

VectorXs dx

State rate.

Definition at line 232 of file rk.hpp.

◆ ki

std::vector<VectorXs> ki

List of RK terms related to system dynamics.

Definition at line 233 of file rk.hpp.

◆ y

std::vector<VectorXs> y

List of states where f is evaluated in the RK integration.

Definition at line 234 of file rk.hpp.

◆ ws

std::vector<VectorXs> ws

Control inputs evaluated in the RK integration.

Definition at line 235 of file rk.hpp.

◆ dx_rk

std::vector<VectorXs> dx_rk

Definition at line 236 of file rk.hpp.

◆ dki_dx

std::vector<MatrixXs> dki_dx

List of partial derivatives of RK nodes with respect to the state of the RK integration. dki/dx.

Definition at line 239 of file rk.hpp.

◆ dki_du

std::vector<MatrixXs> dki_du

List of partial derivatives of RK nodes with respect to the control parameters of the RK integration. dki/du

Definition at line 240 of file rk.hpp.

◆ dyi_dx

std::vector<MatrixXs> dyi_dx

List of partial derivatives of RK dynamics with respect to the state of the RK integrator. dyi/dx.

Definition at line 244 of file rk.hpp.

◆ dyi_du

std::vector<MatrixXs> dyi_du

List of partial derivatives of RK dynamics with respect to the control parameters of the RK integrator. dyi/du

Definition at line 245 of file rk.hpp.

◆ dli_dx

std::vector<VectorXs> dli_dx

List of partial derivatives of the cost with respect to the state of the RK integration. dli_dx.

Definition at line 249 of file rk.hpp.

◆ dli_du

std::vector<VectorXs> dli_du

List of partial derivatives of the cost with respect to the control input of the RK integration. dli_du

Definition at line 250 of file rk.hpp.

◆ ddli_ddx

std::vector<MatrixXs> ddli_ddx

List of second partial derivatives of the cost with respect to the state of the RK integration. ddli_ddx

Definition at line 253 of file rk.hpp.

◆ ddli_ddw

std::vector<MatrixXs> ddli_ddw

List of second partial derivatives of the cost with respect to the control parameters of the RK integration. ddli_ddw

Definition at line 255 of file rk.hpp.

◆ ddli_ddu

std::vector<MatrixXs> ddli_ddu

List of second partial derivatives of the cost with respect to the control input of the RK integration. ddli_ddu

Definition at line 257 of file rk.hpp.

◆ ddli_dxdw

std::vector<MatrixXs> ddli_dxdw

List of second partial derivatives of the cost with respect to the state and control input of the RK integration. ddli_dxdw

Definition at line 259 of file rk.hpp.

◆ ddli_dxdu

std::vector<MatrixXs> ddli_dxdu

List of second partial derivatives of the cost with respect to the state and control parameters of the RK integration. ddli_dxdu

Definition at line 261 of file rk.hpp.

◆ ddli_dwdu

std::vector<MatrixXs> ddli_dwdu

List of second partial derivatives of the cost with respect to the control parameters and inputs control of the RK integration. ddli_dwdu

Definition at line 263 of file rk.hpp.

◆ Luu_partialx

std::vector<MatrixXs> Luu_partialx

Definition at line 266 of file rk.hpp.

◆ Lxu_i

std::vector<MatrixXs> Lxu_i

Definition at line 267 of file rk.hpp.

◆ Lxx_partialx

std::vector<MatrixXs> Lxx_partialx

Definition at line 268 of file rk.hpp.

◆ Lxx_partialu

std::vector<MatrixXs> Lxx_partialu

Definition at line 269 of file rk.hpp.

◆ cost

Scalar cost

cost value

Definition at line 139 of file action-base.hpp.

◆ Fu

MatrixXs Fu

Jacobian of the dynamics.

Definition at line 140 of file action-base.hpp.

◆ Fx

MatrixXs Fx

Jacobian of the dynamics.

Definition at line 141 of file action-base.hpp.

◆ Lu

VectorXs Lu

Jacobian of the cost function.

Definition at line 142 of file action-base.hpp.

◆ Luu

MatrixXs Luu

Hessian of the cost function.

Definition at line 143 of file action-base.hpp.

◆ Lx

VectorXs Lx

Jacobian of the cost function.

Definition at line 144 of file action-base.hpp.

◆ Lxu

MatrixXs Lxu

Hessian of the cost function.

Definition at line 145 of file action-base.hpp.

◆ Lxx

MatrixXs Lxx

Hessian of the cost function.

Definition at line 146 of file action-base.hpp.

◆ r

VectorXs r

Cost residual.

Definition at line 147 of file action-base.hpp.

◆ xnext

VectorXs xnext

evolution state

Definition at line 148 of file action-base.hpp.


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