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

Public Types

typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::MatrixXs MatrixXs
 
typedef MathBaseTpl< Scalar >::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>
 ActionDataNumDiffTpl (Model< Scalar > *const model)
 Initialize the numdiff action data. More...
 
- 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...
 
boost::shared_ptr< Basedata_0
 The data that contains the final results. More...
 
std::vector< boost::shared_ptr< Base > > data_u
 The temporary data associated with the control variation. More...
 
std::vector< boost::shared_ptr< Base > > data_x
 The temporary data associated with the state variation. More...
 
VectorXs du
 Control disturbance. More...
 
VectorXs dx
 State disturbance. 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...
 
MatrixXs Ru
 Cost residual jacobian: \( \frac{d r(x,u)}{du} \). More...
 
MatrixXs Rx
 Cost residual jacobian: \( \frac{d r(x,u)}{dx} \). More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xnext
 evolution state More...
 
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$". 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::ActionDataNumDiffTpl< _Scalar >

Definition at line 140 of file action.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 144 of file action.hpp.

◆ Base

typedef ActionDataAbstractTpl<Scalar> Base

Definition at line 145 of file action.hpp.

◆ VectorXs

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 146 of file action.hpp.

◆ MatrixXs

typedef MathBaseTpl<Scalar>::MatrixXs MatrixXs

Definition at line 147 of file action.hpp.

Constructor & Destructor Documentation

◆ ActionDataNumDiffTpl()

ActionDataNumDiffTpl ( Model< Scalar > *const  model)
inlineexplicit

Initialize the numdiff action data.

Template Parameters
Modelis the type of the ActionModelAbstractTpl.
Parameters
modelis the object to compute the numerical differentiation from.

Definition at line 156 of file action.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 143 of file action.hpp.

◆ Rx

MatrixXs Rx

Cost residual jacobian: \( \frac{d r(x,u)}{dx} \).

Definition at line 191 of file action.hpp.

◆ Ru

MatrixXs Ru

Cost residual jacobian: \( \frac{d r(x,u)}{du} \).

Definition at line 192 of file action.hpp.

◆ dx

VectorXs dx

State disturbance.

Definition at line 193 of file action.hpp.

◆ du

VectorXs du

Control disturbance.

Definition at line 194 of file action.hpp.

◆ xp

VectorXs xp

The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".

Definition at line 195 of file action.hpp.

◆ data_0

boost::shared_ptr<Base> data_0

The data that contains the final results.

Definition at line 196 of file action.hpp.

◆ data_x

std::vector<boost::shared_ptr<Base> > data_x

The temporary data associated with the state variation.

Definition at line 197 of file action.hpp.

◆ data_u

std::vector<boost::shared_ptr<Base> > data_u

The temporary data associated with the control variation.

Definition at line 198 of file action.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 files: