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

boost::shared_ptr< ControlParametrizationDataAbstractcontrol
 Control parametrization data. More...
 
Scalar cost
 cost value More...
 
MatrixXs da_du
 
boost::shared_ptr< DifferentialActionDataAbstractdifferential
 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...
 
- 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::IntegratedActionDataEulerTpl< _Scalar >

Definition at line 160 of file euler.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 164 of file euler.hpp.

◆ Base

Definition at line 165 of file euler.hpp.

◆ DifferentialActionDataAbstract

◆ ControlParametrizationDataAbstract

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 168 of file euler.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 169 of file euler.hpp.

Constructor & Destructor Documentation

◆ IntegratedActionDataEulerTpl()

IntegratedActionDataEulerTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 172 of file euler.hpp.

◆ ~IntegratedActionDataEulerTpl()

virtual ~IntegratedActionDataEulerTpl ( )
inlinevirtual

Definition at line 181 of file euler.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 163 of file euler.hpp.

◆ differential

boost::shared_ptr<DifferentialActionDataAbstract> differential

Differential model data.

Definition at line 183 of file euler.hpp.

◆ control

boost::shared_ptr<ControlParametrizationDataAbstract> control

Control parametrization data.

Definition at line 184 of file euler.hpp.

◆ dx

VectorXs dx

Definition at line 185 of file euler.hpp.

◆ da_du

MatrixXs da_du

Definition at line 186 of file euler.hpp.

◆ Lwu

MatrixXs Lwu

Hessian of the cost function with respect to the control input (w) and control parameters (u)

Definition at line 187 of file euler.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: