crocoddyl  1.4.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ActionDataNumDiffTpl< _Scalar > Struct Template Reference
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 Member Functions

template<template< typename Scalar > class Model>
 ActionDataNumDiffTpl (Model< Scalar > *const model)
 Construct a new ActionDataNumDiff object. More...
 

Public Attributes

Scalar cost
 
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.
 
MathBase::MatrixXs Fu
 
MathBase::MatrixXs Fx
 
MathBase::VectorXs Lu
 
MathBase::MatrixXs Luu
 
MathBase::VectorXs Lx
 
MathBase::MatrixXs Lxu
 
MathBase::MatrixXs Lxx
 
MathBase::VectorXs r
 
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
 
MathBase::VectorXs xnext
 
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
 

Detailed Description

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

Definition at line 122 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 177 of file action.hpp.


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