Public Types | |
typedef DifferentialActionDataAbstractTpl< 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> | |
DifferentialActionDataContactFwdDynamicsTpl (Model< Scalar > *const model) | |
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template<template< typename Scalar > class Model> | |
DifferentialActionDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
Scalar | cost |
cost value More... | |
boost::shared_ptr< CostDataSumTpl< Scalar > > | costs |
MatrixXs | df_du |
MatrixXs | df_dx |
MatrixXs | Fu |
Jacobian of the dynamics. More... | |
MatrixXs | Fx |
Jacobian of the dynamics. More... | |
MatrixXs | Kinv |
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... | |
DataCollectorActMultibodyInContactTpl< Scalar > | multibody |
pinocchio::DataTpl< Scalar > | pinocchio |
VectorXs | r |
Cost residual. More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
MatrixXs | tmp_Jstatic |
VectorXs | tmp_xstatic |
VectorXs | xout |
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 | xout |
evolution state More... | |
Definition at line 226 of file contact-fwddyn.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 229 of file contact-fwddyn.hpp.
typedef DifferentialActionDataAbstractTpl<Scalar> Base |
Definition at line 230 of file contact-fwddyn.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 231 of file contact-fwddyn.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 232 of file contact-fwddyn.hpp.
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inlineexplicit |
Definition at line 235 of file contact-fwddyn.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 228 of file contact-fwddyn.hpp.
pinocchio::DataTpl<Scalar> pinocchio |
Definition at line 256 of file contact-fwddyn.hpp.
DataCollectorActMultibodyInContactTpl<Scalar> multibody |
Definition at line 257 of file contact-fwddyn.hpp.
boost::shared_ptr<CostDataSumTpl<Scalar> > costs |
Definition at line 258 of file contact-fwddyn.hpp.
MatrixXs Kinv |
Definition at line 259 of file contact-fwddyn.hpp.
MatrixXs df_dx |
Definition at line 260 of file contact-fwddyn.hpp.
MatrixXs df_du |
Definition at line 261 of file contact-fwddyn.hpp.
VectorXs tmp_xstatic |
Definition at line 262 of file contact-fwddyn.hpp.
MatrixXs tmp_Jstatic |
Definition at line 263 of file contact-fwddyn.hpp.
Scalar cost |
cost value
Definition at line 263 of file diff-action-base.hpp.
MatrixXs Fu |
Jacobian of the dynamics.
Definition at line 266 of file diff-action-base.hpp.
MatrixXs Fx |
Jacobian of the dynamics.
Definition at line 265 of file diff-action-base.hpp.
VectorXs Lu |
Jacobian of the cost function.
Definition at line 269 of file diff-action-base.hpp.
MatrixXs Luu |
Hessian of the cost function.
Definition at line 272 of file diff-action-base.hpp.
VectorXs Lx |
Jacobian of the cost function.
Definition at line 268 of file diff-action-base.hpp.
MatrixXs Lxu |
Hessian of the cost function.
Definition at line 271 of file diff-action-base.hpp.
MatrixXs Lxx |
Hessian of the cost function.
Definition at line 270 of file diff-action-base.hpp.
VectorXs r |
Cost residual.
Definition at line 267 of file diff-action-base.hpp.
VectorXs xout |
evolution state
Definition at line 264 of file diff-action-base.hpp.