Public Types | |
typedef DifferentialActionDataAbstractTpl< 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> | |
DifferentialActionDataNumDiffTpl (Model< Scalar > *const model) | |
Construct a new ActionDataNumDiff object. More... | |
![]() | |
template<template< typename Scalar > class Model> | |
DifferentialActionDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
Scalar | cost |
cost value More... | |
boost::shared_ptr< Base > | data_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 |
![]() | |
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... | |
Definition at line 131 of file diff-action.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 135 of file diff-action.hpp.
typedef DifferentialActionDataAbstractTpl<Scalar> Base |
Definition at line 136 of file diff-action.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 137 of file diff-action.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 138 of file diff-action.hpp.
|
inlineexplicit |
Construct a new ActionDataNumDiff object.
Model | is the type of the ActionModel. |
model | is the object to compute the numerical differentiation from. |
Definition at line 147 of file diff-action.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 134 of file diff-action.hpp.
MatrixXs Rx |
Definition at line 171 of file diff-action.hpp.
MatrixXs Ru |
Definition at line 172 of file diff-action.hpp.
VectorXs dx |
Definition at line 173 of file diff-action.hpp.
VectorXs du |
Definition at line 174 of file diff-action.hpp.
VectorXs xp |
Definition at line 175 of file diff-action.hpp.
boost::shared_ptr<Base> data_0 |
Definition at line 176 of file diff-action.hpp.
std::vector<boost::shared_ptr<Base> > data_x |
Definition at line 177 of file diff-action.hpp.
std::vector<boost::shared_ptr<Base> > data_u |
Definition at line 178 of file diff-action.hpp.
Scalar cost |
cost value
Definition at line 263 of file diff-action-base.hpp.
MatrixXs Fu |
Jacobian of the dynamics.
Definition at line 266 of file diff-action-base.hpp.
MatrixXs Fx |
Jacobian of the dynamics.
Definition at line 265 of file diff-action-base.hpp.
VectorXs Lu |
Jacobian of the cost function.
Definition at line 269 of file diff-action-base.hpp.
MatrixXs Luu |
Hessian of the cost function.
Definition at line 272 of file diff-action-base.hpp.
VectorXs Lx |
Jacobian of the cost function.
Definition at line 268 of file diff-action-base.hpp.
MatrixXs Lxu |
Hessian of the cost function.
Definition at line 271 of file diff-action-base.hpp.
MatrixXs Lxx |
Hessian of the cost function.
Definition at line 270 of file diff-action-base.hpp.
VectorXs r |
Cost residual.
Definition at line 267 of file diff-action-base.hpp.
VectorXs xout |
evolution state
Definition at line 264 of file diff-action-base.hpp.