Public Types | |
typedef ActivationDataAbstractTpl< Scalar > | ActivationDataAbstract |
typedef CostDataAbstractTpl< Scalar > | Base |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBaseTpl< Scalar >::VectorXs | VectorXs |
![]() | |
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... | |
![]() | |
template<template< typename Scalar > class Model> | |
CostDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data) | |
Public Attributes | |
boost::shared_ptr< ActivationDataAbstract > | activation |
Scalar | cost |
boost::shared_ptr< Base > | data_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< ResidualDataAbstract > | residual |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
DataCollectorAbstract * | shared |
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... | |
![]() | |
boost::shared_ptr< ActivationDataAbstract > | activation |
Scalar | cost |
VectorXs | Lu |
MatrixXs | Luu |
VectorXs | Lx |
MatrixXs | Lxu |
MatrixXs | Lxx |
boost::shared_ptr< ResidualDataAbstract > | residual |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
DataCollectorAbstract * | shared |
typedef MathBaseTpl<Scalar> MathBase |
typedef CostDataAbstractTpl<Scalar> Base |
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract |
typedef MathBaseTpl<Scalar>::VectorXs VectorXs |
|
inlineexplicit |
Initialize the numdiff cost data.
Model | is the type of the CostModelAbstractTpl . |
model | is the object to compute the numerical differentiation from. |
|
inlinevirtual |
VectorXs xp |
VectorXs up |
boost::shared_ptr<Base> data_0 |
std::vector<boost::shared_ptr<Base> > data_x |
std::vector<boost::shared_ptr<Base> > data_u |
boost::shared_ptr<ActivationDataAbstract> activation |
Definition at line 286 of file cost-base.hpp.
Scalar cost |
Definition at line 288 of file cost-base.hpp.
VectorXs Lu |
Definition at line 290 of file cost-base.hpp.
MatrixXs Luu |
Definition at line 293 of file cost-base.hpp.
VectorXs Lx |
Definition at line 289 of file cost-base.hpp.
MatrixXs Lxu |
Definition at line 292 of file cost-base.hpp.
MatrixXs Lxx |
Definition at line 291 of file cost-base.hpp.
boost::shared_ptr<ResidualDataAbstract> residual |
Definition at line 287 of file cost-base.hpp.
DataCollectorAbstract* shared |
Definition at line 285 of file cost-base.hpp.