Public Types | |
typedef IntegratedActionDataAbstractTpl< Scalar > | Base |
typedef ControlParametrizationDataAbstractTpl< Scalar > | ControlParametrizationDataAbstract |
typedef DifferentialActionDataAbstractTpl< Scalar > | DifferentialActionDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
![]() | |
typedef ActionDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
![]() | |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
template<template< typename Scalar > class Model> | |
IntegratedActionDataRKTpl (Model< Scalar > *const model) | |
![]() | |
template<template< typename Scalar > class Model> | |
IntegratedActionDataAbstractTpl (Model< Scalar > *const model) | |
![]() | |
template<template< typename Scalar > class Model> | |
ActionDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
std::vector< boost::shared_ptr< ControlParametrizationDataAbstract > > | control |
List of control parametrization data. More... | |
Scalar | cost |
cost value More... | |
std::vector< MatrixXs > | ddli_ddu |
std::vector< MatrixXs > | ddli_ddw |
std::vector< MatrixXs > | ddli_ddx |
std::vector< MatrixXs > | ddli_dwdu |
std::vector< MatrixXs > | ddli_dxdu |
std::vector< MatrixXs > | ddli_dxdw |
std::vector< boost::shared_ptr< DifferentialActionDataAbstract > > | differential |
List of differential model data. More... | |
std::vector< MatrixXs > | dki_du |
std::vector< MatrixXs > | dki_dx |
List of partial derivatives of RK nodes with respect to the state of the RK integration. dki/dx. More... | |
std::vector< VectorXs > | dli_du |
std::vector< VectorXs > | dli_dx |
List of partial derivatives of the cost with respect to the state of the RK integration. dli_dx. More... | |
VectorXs | dx |
State rate. More... | |
std::vector< VectorXs > | dx_rk |
std::vector< MatrixXs > | dyi_du |
std::vector< MatrixXs > | dyi_dx |
List of partial derivatives of RK dynamics with respect to the state of the RK integrator. dyi/dx. More... | |
MatrixXs | Fu |
Jacobian of the dynamics. More... | |
MatrixXs | Fx |
Jacobian of the dynamics. More... | |
std::vector< Scalar > | integral |
std::vector< VectorXs > | ki |
List of RK terms related to system dynamics. More... | |
VectorXs | Lu |
Jacobian of the cost function. More... | |
MatrixXs | Luu |
Hessian of the cost function. More... | |
std::vector< MatrixXs > | Luu_partialx |
VectorXs | Lx |
Jacobian of the cost function. More... | |
MatrixXs | Lxu |
Hessian of the cost function. More... | |
std::vector< MatrixXs > | Lxu_i |
MatrixXs | Lxx |
Hessian of the cost function. More... | |
std::vector< MatrixXs > | Lxx_partialu |
std::vector< MatrixXs > | Lxx_partialx |
VectorXs | r |
Cost residual. More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
std::vector< VectorXs > | ws |
Control inputs evaluated in the RK integration. More... | |
VectorXs | xnext |
evolution state More... | |
std::vector< VectorXs > | y |
List of states where f is evaluated in the RK integration. More... | |
![]() | |
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... | |
![]() | |
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... | |
typedef MathBaseTpl<Scalar> MathBase |
typedef IntegratedActionDataAbstractTpl<Scalar> Base |
typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract |
|
inlineexplicit |
|
inlinevirtual |
std::vector<boost::shared_ptr<DifferentialActionDataAbstract> > differential |
std::vector<boost::shared_ptr<ControlParametrizationDataAbstract> > control |
std::vector<VectorXs> ki |
std::vector<VectorXs> y |
std::vector<VectorXs> ws |
std::vector<MatrixXs> dki_dx |
std::vector<MatrixXs> dki_du |
std::vector<MatrixXs> dyi_dx |
std::vector<MatrixXs> dyi_du |
std::vector<VectorXs> dli_dx |
std::vector<VectorXs> dli_du |
std::vector<MatrixXs> ddli_ddx |
std::vector<MatrixXs> ddli_ddw |
std::vector<MatrixXs> ddli_ddu |
std::vector<MatrixXs> ddli_dxdw |
std::vector<MatrixXs> ddli_dxdu |
std::vector<MatrixXs> ddli_dwdu |
Scalar cost |
cost value
Definition at line 139 of file action-base.hpp.
MatrixXs Fu |
Jacobian of the dynamics.
Definition at line 140 of file action-base.hpp.
MatrixXs Fx |
Jacobian of the dynamics.
Definition at line 141 of file action-base.hpp.
VectorXs Lu |
Jacobian of the cost function.
Definition at line 142 of file action-base.hpp.
MatrixXs Luu |
Hessian of the cost function.
Definition at line 143 of file action-base.hpp.
VectorXs Lx |
Jacobian of the cost function.
Definition at line 144 of file action-base.hpp.
MatrixXs Lxu |
Hessian of the cost function.
Definition at line 145 of file action-base.hpp.
MatrixXs Lxx |
Hessian of the cost function.
Definition at line 146 of file action-base.hpp.
VectorXs r |
Cost residual.
Definition at line 147 of file action-base.hpp.
VectorXs xnext |
evolution state
Definition at line 148 of file action-base.hpp.