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| DifferentialActionModelNumDiffTpl (boost::shared_ptr< Base > model, bool with_gauss_approx=false) |
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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) |
| Compute the system acceleration and cost value. More...
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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) |
| Compute the derivatives of the dynamics and cost functions. More...
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virtual boost::shared_ptr< DifferentialActionDataAbstract > | createData () |
| Create the differential action data. More...
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const Scalar & | get_disturbance () const |
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const boost::shared_ptr< Base > & | get_model () const |
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bool | get_with_gauss_approx () |
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void | set_disturbance (const Scalar &disturbance) |
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| DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0) |
| Initialize the differential action model. More...
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void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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virtual bool | checkData (const boost::shared_ptr< DifferentialActionDataAbstract > &data) |
| Checks that a specific data belongs to this model.
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bool const & | get_has_control_limits () const |
| Indicates if there are defined control limits.
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const std::size_t & | get_nr () const |
| Return the dimension of the cost-residual vector.
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const std::size_t & | get_nu () const |
| Return the dimension of the control input.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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const VectorXs & | get_u_lb () const |
| Return the control lower bound.
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const VectorXs & | get_u_ub () const |
| Return the control upper bound.
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virtual void | quasiStatic (const boost::shared_ptr< DifferentialActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t &maxiter=100, const Scalar &tol=Scalar(1e-9)) |
| Computes the quasic static commands. More...
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VectorXs | quasiStatic_x (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t &maxiter=100, const Scalar &tol=Scalar(1e-9)) |
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void | set_u_lb (const VectorXs &u_lb) |
| Modify the control lower bounds.
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void | set_u_ub (const VectorXs &u_ub) |
| Modify the control upper bounds.
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template<typename _Scalar>
class crocoddyl::DifferentialActionModelNumDiffTpl< _Scalar >
Definition at line 130 of file fwd.hpp.