crocoddyl  1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ActionDataNumDiffTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActionDataNumDiffTpl< _Scalar >:
Collaboration diagram for ActionDataNumDiffTpl< _Scalar >:

Public Types

typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::MatrixXs MatrixXs
 
typedef MathBaseTpl< Scalar >::VectorXs VectorXs
 
- Public Types inherited from ActionDataAbstractTpl< _Scalar >
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)
 Construct a new ActionDataNumDiff object. More...
 
- Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

boost::shared_ptr< Basedata_0
 The data that contains the final results.
 
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.
 
MatrixXs Ru
 Cost residual jacobian: \( \frac{d r(x,u)}{du} \).
 
MatrixXs Rx
 Cost residual jacobian: \( \frac{d r(x,u)}{dx} \).
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
 
- Public Attributes inherited from ActionDataAbstractTpl< _Scalar >
Scalar cost
 cost value
 
MatrixXs Fu
 Jacobian of the dynamics.
 
MatrixXs Fx
 Jacobian of the dynamics.
 
VectorXs Lu
 Jacobian of the cost function.
 
MatrixXs Luu
 Hessian of the cost function.
 
VectorXs Lx
 Jacobian of the cost function.
 
MatrixXs Lxu
 Hessian of the cost function.
 
MatrixXs Lxx
 Hessian of the cost function.
 
VectorXs r
 Cost residual.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xnext
 evolution state
 

Detailed Description

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

Definition at line 179 of file fwd.hpp.

Constructor & Destructor Documentation

◆ ActionDataNumDiffTpl()

ActionDataNumDiffTpl ( Model< Scalar > *const  model)
inlineexplicit

Construct a new ActionDataNumDiff object.

Template Parameters
Modelis the type of the ActionModel.
Parameters
modelis the object to compute the numerical differentiation from.

Definition at line 179 of file action.hpp.


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