crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ShootingProblemTpl< _Scalar > Class Template Reference

Public Types

typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef ActionModelAbstractTpl< Scalar > ActionModelAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ShootingProblemTpl (const VectorXs &x0, const std::vector< boost::shared_ptr< ActionModelAbstract > > &running_models, boost::shared_ptr< ActionModelAbstract > terminal_model)
 
Scalar calc (const std::vector< VectorXs > &xs, const std::vector< VectorXs > &us)
 
Scalar calcDiff (const std::vector< VectorXs > &xs, const std::vector< VectorXs > &us)
 
const std::vector< boost::shared_ptr< ActionDataAbstract > > & get_runningDatas () const
 
const std::vector< boost::shared_ptr< ActionModelAbstract > > & get_runningModels () const
 
const std::size_t & get_T () const
 
const boost::shared_ptr< ActionDataAbstract > & get_terminalData () const
 
const boost::shared_ptr< ActionModelAbstract > & get_terminalModel () const
 
const VectorXs & get_x0 () const
 
void rollout (const std::vector< VectorXs > &us, std::vector< VectorXs > &xs)
 
std::vector< VectorXs > rollout_us (const std::vector< VectorXs > &us)
 
void set_runningModels (const std::vector< boost::shared_ptr< ActionModelAbstract > > &models)
 
void set_terminalModel (boost::shared_ptr< ActionModelAbstract > model)
 
void set_x0 (const VectorXs &x0_in)
 
void updateModel (std::size_t i, boost::shared_ptr< ActionModelAbstract > model)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

Scalar cost_
 
std::vector< boost::shared_ptr< ActionDataAbstract > > running_datas_
 
std::vector< boost::shared_ptr< ActionModelAbstract > > running_models_
 
std::size_t T_
 
boost::shared_ptr< ActionDataAbstractterminal_data_
 
boost::shared_ptr< ActionModelAbstractterminal_model_
 
VectorXs x0_
 

Detailed Description

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

Definition at line 95 of file fwd.hpp.


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