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

Public Types

typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

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 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::ActionDataAbstractTpl< _Scalar >

Definition at line 236 of file action-base.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 240 of file action-base.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 241 of file action-base.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 242 of file action-base.hpp.

Constructor & Destructor Documentation

◆ ActionDataAbstractTpl()

ActionDataAbstractTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 245 of file action-base.hpp.

◆ ~ActionDataAbstractTpl()

virtual ~ActionDataAbstractTpl ( )
inlinevirtual

Definition at line 266 of file action-base.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 239 of file action-base.hpp.

◆ cost

Scalar cost

cost value

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

◆ xnext

VectorXs xnext

evolution state

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

◆ Fx

MatrixXs Fx

Jacobian of the dynamics.

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

◆ Fu

MatrixXs Fu

Jacobian of the dynamics.

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

◆ r

VectorXs r

Cost residual.

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

◆ Lx

VectorXs Lx

Jacobian of the cost function.

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

◆ Lu

VectorXs Lu

Jacobian of the cost function.

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

◆ Lxx

MatrixXs Lxx

Hessian of the cost function.

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

◆ Lxu

MatrixXs Lxu

Hessian of the cost function.

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

◆ Luu

MatrixXs Luu

Hessian of the cost function.

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


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