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

Public Types

typedef DifferentialActionModelAbstractTpl< Scalar > Base
 
typedef DifferentialActionDataLQRTpl< Scalar > Data
 
typedef DifferentialActionDataAbstractTpl< Scalar > DifferentialActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef _Scalar Scalar
 
typedef StateVectorTpl< Scalar > StateVector
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from DifferentialActionModelAbstractTpl< _Scalar >
typedef DifferentialActionDataAbstractTpl< Scalar > DifferentialActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 DifferentialActionModelLQRTpl (const std::size_t &nq, const std::size_t &nu, bool drift_free=true)
 
virtual void calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual void calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual boost::shared_ptr< DifferentialActionDataAbstractcreateData ()
 
const VectorXs & get_f0 () const
 
const MatrixXs & get_Fq () const
 
const MatrixXs & get_Fu () const
 
const MatrixXs & get_Fv () const
 
const VectorXs & get_lu () const
 
const MatrixXs & get_Luu () const
 
const VectorXs & get_lx () const
 
const MatrixXs & get_Lxu () const
 
const MatrixXs & get_Lxx () const
 
void set_f0 (const VectorXs &f0)
 
void set_Fq (const MatrixXs &Fq)
 
void set_Fu (const MatrixXs &Fu)
 
void set_Fv (const MatrixXs &Fv)
 
void set_lu (const VectorXs &lu)
 
void set_Luu (const MatrixXs &Luu)
 
void set_lx (const VectorXs &lx)
 
void set_Lxu (const MatrixXs &Lxu)
 
void set_Lxx (const MatrixXs &Lxx)
 
- Public Member Functions inherited from DifferentialActionModelAbstractTpl< _Scalar >
 DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0)
 
virtual void calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 
void calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 
void calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
bool const & get_has_control_limits () const
 
const std::size_t & get_nr () const
 
const std::size_t & get_nu () const
 
const boost::shared_ptr< StateAbstract > & get_state () const
 
const VectorXs & get_u_lb () const
 
const VectorXs & get_u_ub () const
 
void set_u_lb (const VectorXs &u_lb)
 
void set_u_ub (const VectorXs &u_ub)
 

Additional Inherited Members

- Public Attributes inherited from DifferentialActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Protected Member Functions inherited from DifferentialActionModelAbstractTpl< _Scalar >
void update_has_control_limits ()
 
- Protected Attributes inherited from DifferentialActionModelAbstractTpl< _Scalar >
bool has_control_limits_
 Indicates whether any of the control limits is finite.
 
std::size_t nr_
 Dimension of the cost residual.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 Model of the state.
 
VectorXs u_lb_
 Lower control limits.
 
VectorXs u_ub_
 Upper control limits.
 
VectorXs unone_
 Neutral state.
 

Detailed Description

template<typename _Scalar>
class crocoddyl::DifferentialActionModelLQRTpl< _Scalar >

Definition at line 21 of file diff-lqr.hpp.


The documentation for this class was generated from the following file: