Public Types | |
typedef ActivationDataAbstractTpl< Scalar > | ActivationDataAbstract |
typedef CostDataAbstractTpl< Scalar > | Base |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBaseTpl< Scalar >::VectorXs | VectorXs |
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typedef ActivationDataAbstractTpl< Scalar > | ActivationDataAbstract |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
template<template< typename Scalar > class Model> | |
CostDataNumDiffTpl (Model< Scalar > *const model, DataCollectorAbstract *const shared_data) | |
Initialize the numdiff cost data. More... | |
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template<template< typename Scalar > class Model> | |
CostDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data) | |
Public Attributes | |
boost::shared_ptr< Base > | data_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$". | |
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boost::shared_ptr< ActivationDataAbstract > | activation |
Scalar | cost |
VectorXs | Lu |
MatrixXs | Luu |
VectorXs | Lx |
MatrixXs | Lxu |
MatrixXs | Lxx |
boost::shared_ptr< ResidualDataAbstract > | residual |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
DataCollectorAbstract * | shared |
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inlineexplicit |
Initialize the numdiff cost data.
Model | is the type of the CostModelAbstractTpl . |
model | is the object to compute the numerical differentiation from. |