crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
CostDataNumDiffTpl< _Scalar > Struct Template Reference
Inheritance diagram for CostDataNumDiffTpl< _Scalar >:
Collaboration diagram for CostDataNumDiffTpl< _Scalar >:

Public Types

typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
 
typedef CostDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::VectorXs VectorXs
 
- Public Types inherited from CostDataAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
 
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>
 CostDataNumDiffTpl (Model< Scalar > *const model, DataCollectorAbstract *const shared_data)
 
- Public Member Functions inherited from CostDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 CostDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 

Public Attributes

boost::shared_ptr< Basedata_0
 The data at the approximation point.
 
std::vector< boost::shared_ptr< Base > > data_u
 The temporary data associated with the control variation.
 
std::vector< boost::shared_ptr< Base > > data_x
 The temporary data associated with the state variation.
 
VectorXs du
 Control disturbance.
 
VectorXs dx
 State disturbance.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs up
 The integrated control from the disturbance on one DoF "\f$ \int u du_i = u + du \f$".
 
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
 
- Public Attributes inherited from CostDataAbstractTpl< _Scalar >
boost::shared_ptr< ActivationDataAbstractactivation
 
Scalar cost
 
VectorXs Lu
 
MatrixXs Luu
 
VectorXs Lx
 
MatrixXs Lxu
 
MatrixXs Lxx
 
VectorXs r
 
MatrixXs Ru
 
MatrixXs Rx
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 

Detailed Description

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

Definition at line 51 of file fwd.hpp.


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