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

Public Types

typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
 
typedef CostDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::VectorXs VectorXs
 
- Public Types inherited from CostDataAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualDataAbstractTpl< Scalar > ResidualDataAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 CostDataNumDiffTpl (Model< Scalar > *const model, DataCollectorAbstract *const shared_data)
 Initialize the numdiff cost data. More...
 
- Public Member Functions inherited from CostDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 CostDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 

Public Attributes

boost::shared_ptr< ActivationDataAbstractactivation
 
Scalar cost
 
boost::shared_ptr< Basedata_0
 The data at the approximation point. 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...
 
VectorXs Lu
 
MatrixXs Luu
 
VectorXs Lx
 
MatrixXs Lxu
 
MatrixXs Lxx
 
boost::shared_ptr< ResidualDataAbstractresidual
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 
VectorXs up
 The integrated control from the disturbance on one DoF "\f$ \int u du_i = u + du \f$". More...
 
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$". More...
 
- Public Attributes inherited from CostDataAbstractTpl< _Scalar >
boost::shared_ptr< ActivationDataAbstractactivation
 
Scalar cost
 
VectorXs Lu
 
MatrixXs Luu
 
VectorXs Lx
 
MatrixXs Lxu
 
MatrixXs Lxx
 
boost::shared_ptr< ResidualDataAbstractresidual
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::CostDataNumDiffTpl< _Scalar >

Definition at line 143 of file cost.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 147 of file cost.hpp.

◆ Base

typedef CostDataAbstractTpl<Scalar> Base

Definition at line 148 of file cost.hpp.

◆ DataCollectorAbstract

Definition at line 149 of file cost.hpp.

◆ ActivationDataAbstract

Definition at line 150 of file cost.hpp.

◆ VectorXs

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 151 of file cost.hpp.

Constructor & Destructor Documentation

◆ CostDataNumDiffTpl()

CostDataNumDiffTpl ( Model< Scalar > *const  model,
DataCollectorAbstract *const  shared_data 
)
inlineexplicit

Initialize the numdiff cost data.

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

Definition at line 160 of file cost.hpp.

◆ ~CostDataNumDiffTpl()

virtual ~CostDataNumDiffTpl ( )
inlinevirtual

Definition at line 182 of file cost.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 146 of file cost.hpp.

◆ dx

VectorXs dx

State disturbance.

Definition at line 194 of file cost.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 cost.hpp.

◆ du

VectorXs du

Control disturbance.

Definition at line 196 of file cost.hpp.

◆ up

VectorXs up

The integrated control from the disturbance on one DoF "\f$ \int u du_i = u + du \f$".

Definition at line 197 of file cost.hpp.

◆ data_0

boost::shared_ptr<Base> data_0

The data at the approximation point.

Definition at line 198 of file cost.hpp.

◆ data_x

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

The temporary data associated with the state variation.

Definition at line 199 of file cost.hpp.

◆ data_u

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

The temporary data associated with the control variation.

Definition at line 200 of file cost.hpp.

◆ activation

boost::shared_ptr<ActivationDataAbstract> activation

Definition at line 286 of file cost-base.hpp.

◆ cost

Scalar cost

Definition at line 288 of file cost-base.hpp.

◆ Lu

VectorXs Lu

Definition at line 290 of file cost-base.hpp.

◆ Luu

MatrixXs Luu

Definition at line 293 of file cost-base.hpp.

◆ Lx

VectorXs Lx

Definition at line 289 of file cost-base.hpp.

◆ Lxu

MatrixXs Lxu

Definition at line 292 of file cost-base.hpp.

◆ Lxx

MatrixXs Lxx

Definition at line 291 of file cost-base.hpp.

◆ residual

boost::shared_ptr<ResidualDataAbstract> residual

Definition at line 287 of file cost-base.hpp.

◆ shared

Definition at line 285 of file cost-base.hpp.


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