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

Public Types

typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef _Scalar Scalar
 
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>
 ActionDataLQRTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

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 Luu_u_tmp
 
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 Lxx_x_tmp
 
VectorXs r
 Cost residual. More...
 
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::ActionDataLQRTpl< _Scalar >

Definition at line 86 of file lqr.hpp.

Member Typedef Documentation

◆ Scalar

typedef _Scalar Scalar

Definition at line 87 of file lqr.hpp.

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 88 of file lqr.hpp.

◆ Base

typedef ActionDataAbstractTpl<Scalar> Base

Definition at line 89 of file lqr.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 90 of file lqr.hpp.

Constructor & Destructor Documentation

◆ ActionDataLQRTpl()

ActionDataLQRTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 93 of file lqr.hpp.

Member Data Documentation

◆ Luu_u_tmp

VectorXs Luu_u_tmp

Definition at line 115 of file lqr.hpp.

◆ Lxx_x_tmp

VectorXs Lxx_x_tmp

Definition at line 116 of file lqr.hpp.

◆ cost

Scalar cost

cost value

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

◆ Fu

MatrixXs Fu

Jacobian of the dynamics.

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

◆ Fx

MatrixXs Fx

Jacobian of the dynamics.

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

◆ Lu

VectorXs Lu

Jacobian of the cost function.

Definition at line 274 of file action-base.hpp.

◆ Luu

MatrixXs Luu

Hessian of the cost function.

Definition at line 277 of file action-base.hpp.

◆ Lx

VectorXs Lx

Jacobian of the cost function.

Definition at line 273 of file action-base.hpp.

◆ Lxu

MatrixXs Lxu

Hessian of the cost function.

Definition at line 276 of file action-base.hpp.

◆ Lxx

MatrixXs Lxx

Hessian of the cost function.

Definition at line 275 of file action-base.hpp.

◆ r

VectorXs r

Cost residual.

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

◆ xnext

VectorXs xnext

evolution state

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


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