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

Public Types

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

Public Member Functions

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

Public Attributes

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 r
 Residual vector. More...
 
MatrixXs Ru
 Jacobian of the residual vector with respect the control. More...
 
MatrixXs Rx
 Jacobian of the residual vector with respect the state. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 Shared data allocated by the action model. More...
 
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 ResidualDataAbstractTpl< _Scalar >
VectorXs r
 Residual vector. More...
 
MatrixXs Ru
 Jacobian of the residual vector with respect the control. More...
 
MatrixXs Rx
 Jacobian of the residual vector with respect the state. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 Shared data allocated by the action model. More...
 

Detailed Description

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

Definition at line 131 of file residual.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 135 of file residual.hpp.

◆ Base

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 136 of file residual.hpp.

◆ DataCollectorAbstract

Definition at line 137 of file residual.hpp.

◆ ActivationDataAbstract

Definition at line 138 of file residual.hpp.

◆ VectorXs

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 139 of file residual.hpp.

Constructor & Destructor Documentation

◆ ResidualDataNumDiffTpl()

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

Initialize the numdiff residual data.

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

Definition at line 148 of file residual.hpp.

◆ ~ResidualDataNumDiffTpl()

virtual ~ResidualDataNumDiffTpl ( )
inlinevirtual

Definition at line 170 of file residual.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 134 of file residual.hpp.

◆ dx

VectorXs dx

State disturbance.

Definition at line 177 of file residual.hpp.

◆ xp

VectorXs xp

The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".

Definition at line 178 of file residual.hpp.

◆ du

VectorXs du

Control disturbance.

Definition at line 179 of file residual.hpp.

◆ up

VectorXs up

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

Definition at line 180 of file residual.hpp.

◆ data_0

boost::shared_ptr<Base> data_0

The data at the approximation point.

Definition at line 181 of file residual.hpp.

◆ data_x

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

The temporary data associated with the state variation.

Definition at line 182 of file residual.hpp.

◆ data_u

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

The temporary data associated with the control variation.

Definition at line 183 of file residual.hpp.

◆ r

VectorXs r

Residual vector.

Definition at line 211 of file residual-base.hpp.

◆ Ru

MatrixXs Ru

Jacobian of the residual vector with respect the control.

Definition at line 213 of file residual-base.hpp.

◆ Rx

MatrixXs Rx

Jacobian of the residual vector with respect the state.

Definition at line 212 of file residual-base.hpp.

◆ shared

Shared data allocated by the action model.

Definition at line 210 of file residual-base.hpp.


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