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| DifferentialActionModelLQRTpl (const std::size_t &nq, const std::size_t &nu, bool drift_free=true) |
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virtual void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
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virtual void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
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virtual boost::shared_ptr< DifferentialActionDataAbstract > | createData () |
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const VectorXs & | get_f0 () const |
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const MatrixXs & | get_Fq () const |
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const MatrixXs & | get_Fu () const |
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const MatrixXs & | get_Fv () const |
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const VectorXs & | get_lu () const |
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const MatrixXs & | get_Luu () const |
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const VectorXs & | get_lx () const |
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const MatrixXs & | get_Lxu () const |
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const MatrixXs & | get_Lxx () const |
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void | set_f0 (const VectorXs &f0) |
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void | set_Fq (const MatrixXs &Fq) |
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void | set_Fu (const MatrixXs &Fu) |
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void | set_Fv (const MatrixXs &Fv) |
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void | set_lu (const VectorXs &lu) |
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void | set_Luu (const MatrixXs &Luu) |
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void | set_lx (const VectorXs &lx) |
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void | set_Lxu (const MatrixXs &Lxu) |
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void | set_Lxx (const MatrixXs &Lxx) |
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| DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0) |
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virtual void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0 |
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void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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virtual void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0 |
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void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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bool const & | get_has_control_limits () const |
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const std::size_t & | get_nr () const |
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const std::size_t & | get_nu () const |
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const boost::shared_ptr< StateAbstract > & | get_state () const |
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const VectorXs & | get_u_lb () const |
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const VectorXs & | get_u_ub () const |
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void | set_u_lb (const VectorXs &u_lb) |
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void | set_u_ub (const VectorXs &u_ub) |
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template<typename _Scalar>
class crocoddyl::DifferentialActionModelLQRTpl< _Scalar >
Definition at line 21 of file diff-lqr.hpp.