crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
IntegratedActionModelRK4Tpl< _Scalar > Class Template Reference

Public Types

typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef ActionModelAbstractTpl< Scalar > Base
 
typedef IntegratedActionDataRK4Tpl< Scalar > Data
 
typedef DifferentialActionModelAbstractTpl< Scalar > DifferentialActionModelAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 IntegratedActionModelRK4Tpl (boost::shared_ptr< DifferentialActionModelAbstract > model, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true)
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual bool checkData (const boost::shared_ptr< ActionDataAbstract > &data)
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 
const boost::shared_ptr< DifferentialActionModelAbstract > & get_differential () const
 
const Scalar get_dt () const
 
virtual void quasiStatic (const boost::shared_ptr< ActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))
 
void set_differential (boost::shared_ptr< DifferentialActionModelAbstract > model)
 
void set_dt (const Scalar dt)
 

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 are active
 
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::IntegratedActionModelRK4Tpl< _Scalar >

Definition at line 51 of file fwd.hpp.


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