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 |
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typedef ActionDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
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typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
template<template< typename Scalar > class Model> | |
IntegratedActionDataEulerTpl (Model< Scalar > *const model) | |
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template<template< typename Scalar > class Model> | |
IntegratedActionDataAbstractTpl (Model< Scalar > *const model) | |
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template<template< typename Scalar > class Model> | |
ActionDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
boost::shared_ptr< ControlParametrizationDataAbstract > | control |
Control parametrization data. More... | |
Scalar | cost |
cost value More... | |
MatrixXs | da_du |
boost::shared_ptr< DifferentialActionDataAbstract > | differential |
Differential model data. More... | |
VectorXs | 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... | |
MatrixXs | Lwu |
Hessian of the cost function with respect to the control input (w) and control parameters (u) 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... | |
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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... | |
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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... | |
typedef MathBaseTpl<Scalar> MathBase |
typedef IntegratedActionDataAbstractTpl<Scalar> Base |
typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract |
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inlineexplicit |
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inlinevirtual |
boost::shared_ptr<DifferentialActionDataAbstract> differential |
boost::shared_ptr<ControlParametrizationDataAbstract> control |
MatrixXs Lwu |
Scalar cost |
cost value
Definition at line 139 of file action-base.hpp.
MatrixXs Fu |
Jacobian of the dynamics.
Definition at line 140 of file action-base.hpp.
MatrixXs Fx |
Jacobian of the dynamics.
Definition at line 141 of file action-base.hpp.
VectorXs Lu |
Jacobian of the cost function.
Definition at line 142 of file action-base.hpp.
MatrixXs Luu |
Hessian of the cost function.
Definition at line 143 of file action-base.hpp.
VectorXs Lx |
Jacobian of the cost function.
Definition at line 144 of file action-base.hpp.
MatrixXs Lxu |
Hessian of the cost function.
Definition at line 145 of file action-base.hpp.
MatrixXs Lxx |
Hessian of the cost function.
Definition at line 146 of file action-base.hpp.
VectorXs r |
Cost residual.
Definition at line 147 of file action-base.hpp.
VectorXs xnext |
evolution state
Definition at line 148 of file action-base.hpp.