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

Public Types

typedef DifferentialActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from DifferentialActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 DifferentialActionDataNumDiffTpl (Model< Scalar > *const model)
 Construct a new ActionDataNumDiff object. More...
 
- Public Member Functions inherited from DifferentialActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 DifferentialActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

Scalar cost
 cost value More...
 
boost::shared_ptr< Basedata_0
 
std::vector< boost::shared_ptr< Base > > data_u
 
std::vector< boost::shared_ptr< Base > > data_x
 
VectorXs du
 
VectorXs dx
 
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
 
MatrixXs Rx
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xout
 evolution state More...
 
VectorXs xp
 
- Public Attributes inherited from DifferentialActionDataAbstractTpl< _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 xout
 evolution state More...
 

Detailed Description

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

Definition at line 131 of file diff-action.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 135 of file diff-action.hpp.

◆ Base

Definition at line 136 of file diff-action.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 137 of file diff-action.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 138 of file diff-action.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataNumDiffTpl()

DifferentialActionDataNumDiffTpl ( Model< Scalar > *const  model)
inlineexplicit

Construct a new ActionDataNumDiff object.

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

Definition at line 147 of file diff-action.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 134 of file diff-action.hpp.

◆ Rx

MatrixXs Rx

Definition at line 171 of file diff-action.hpp.

◆ Ru

MatrixXs Ru

Definition at line 172 of file diff-action.hpp.

◆ dx

VectorXs dx

Definition at line 173 of file diff-action.hpp.

◆ du

VectorXs du

Definition at line 174 of file diff-action.hpp.

◆ xp

VectorXs xp

Definition at line 175 of file diff-action.hpp.

◆ data_0

boost::shared_ptr<Base> data_0

Definition at line 176 of file diff-action.hpp.

◆ data_x

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

Definition at line 177 of file diff-action.hpp.

◆ data_u

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

Definition at line 178 of file diff-action.hpp.

◆ cost

Scalar cost

cost value

Definition at line 263 of file diff-action-base.hpp.

◆ Fu

MatrixXs Fu

Jacobian of the dynamics.

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

◆ Fx

MatrixXs Fx

Jacobian of the dynamics.

Definition at line 265 of file diff-action-base.hpp.

◆ Lu

VectorXs Lu

Jacobian of the cost function.

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

◆ Luu

MatrixXs Luu

Hessian of the cost function.

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

◆ Lx

VectorXs Lx

Jacobian of the cost function.

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

◆ Lxu

MatrixXs Lxu

Hessian of the cost function.

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

◆ Lxx

MatrixXs Lxx

Hessian of the cost function.

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

◆ r

VectorXs r

Cost residual.

Definition at line 267 of file diff-action-base.hpp.

◆ xout

VectorXs xout

evolution state

Definition at line 264 of file diff-action-base.hpp.


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