crocoddyl  1.4.0
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DifferentialActionModelNumDiffTpl< _Scalar > Class Template Reference

Public Types

typedef DifferentialActionModelAbstractTpl< Scalar > Base
 
typedef DifferentialActionDataNumDiffTpl< Scalar > Data
 
typedef DifferentialActionDataAbstractTpl< Scalar > DifferentialActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 DifferentialActionModelNumDiffTpl (boost::shared_ptr< Base > model, bool with_gauss_approx=false)
 
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 Scalar & get_disturbance () const
 
const boost::shared_ptr< Base > & get_model () const
 
bool get_with_gauss_approx ()
 
void set_disturbance (const Scalar &disturbance)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

bool has_control_limits_
 Indicates whether any of the control limits is finite.
 
std::size_t nr_
 < Indicates whether any of the control limits
 
std::size_t nu_
 < Dimension of the cost residual
 
boost::shared_ptr< StateAbstractstate_
 < Control dimension
 
VectorXs u_lb_
 < Model of the state
 
VectorXs u_ub_
 < Lower control limits
 
VectorXs unone_
 < Upper control limits
 

Detailed Description

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

Definition at line 125 of file fwd.hpp.


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