Public Types | |
typedef ActionDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBaseTpl< Scalar >::MatrixXs | MatrixXs |
typedef MathBaseTpl< Scalar >::VectorXs | VectorXs |
![]() | |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
template<template< typename Scalar > class Model> | |
ActionDataNumDiffTpl (Model< Scalar > *const model) | |
Initialize the numdiff action data. More... | |
![]() | |
template<template< typename Scalar > class Model> | |
ActionDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
Scalar | cost |
cost value More... | |
boost::shared_ptr< Base > | data_0 |
The data that contains the final results. 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... | |
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 |
Cost residual jacobian: \( \frac{d r(x,u)}{du} \). More... | |
MatrixXs | Rx |
Cost residual jacobian: \( \frac{d r(x,u)}{dx} \). More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
VectorXs | xnext |
evolution state More... | |
VectorXs | xp |
The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$". 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... | |
Definition at line 140 of file action.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 144 of file action.hpp.
typedef ActionDataAbstractTpl<Scalar> Base |
Definition at line 145 of file action.hpp.
typedef MathBaseTpl<Scalar>::VectorXs VectorXs |
Definition at line 146 of file action.hpp.
typedef MathBaseTpl<Scalar>::MatrixXs MatrixXs |
Definition at line 147 of file action.hpp.
|
inlineexplicit |
Initialize the numdiff action data.
Model | is the type of the ActionModelAbstractTpl . |
model | is the object to compute the numerical differentiation from. |
Definition at line 156 of file action.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 143 of file action.hpp.
MatrixXs Rx |
Cost residual jacobian: \( \frac{d r(x,u)}{dx} \).
Definition at line 191 of file action.hpp.
MatrixXs Ru |
Cost residual jacobian: \( \frac{d r(x,u)}{du} \).
Definition at line 192 of file action.hpp.
VectorXs dx |
State disturbance.
Definition at line 193 of file action.hpp.
VectorXs du |
Control disturbance.
Definition at line 194 of file action.hpp.
VectorXs xp |
The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
Definition at line 195 of file action.hpp.
boost::shared_ptr<Base> data_0 |
The data that contains the final results.
Definition at line 196 of file action.hpp.
std::vector<boost::shared_ptr<Base> > data_x |
The temporary data associated with the state variation.
Definition at line 197 of file action.hpp.
std::vector<boost::shared_ptr<Base> > data_u |
The temporary data associated with the control variation.
Definition at line 198 of file action.hpp.
Scalar cost |
cost value
Definition at line 268 of file action-base.hpp.
MatrixXs Fu |
Jacobian of the dynamics.
Definition at line 271 of file action-base.hpp.
MatrixXs Fx |
Jacobian of the dynamics.
Definition at line 270 of file action-base.hpp.
VectorXs Lu |
Jacobian of the cost function.
Definition at line 274 of file action-base.hpp.
MatrixXs Luu |
Hessian of the cost function.
Definition at line 277 of file action-base.hpp.
VectorXs Lx |
Jacobian of the cost function.
Definition at line 273 of file action-base.hpp.
MatrixXs Lxu |
Hessian of the cost function.
Definition at line 276 of file action-base.hpp.
MatrixXs Lxx |
Hessian of the cost function.
Definition at line 275 of file action-base.hpp.
VectorXs r |
Cost residual.
Definition at line 272 of file action-base.hpp.
VectorXs xnext |
evolution state
Definition at line 269 of file action-base.hpp.