crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
IntegratedActionDataRK4Tpl< _Scalar > Struct Template Reference

Public Types

typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 IntegratedActionDataRK4Tpl (Model< Scalar > *const model)
 

Public Attributes

Scalar cost
 cost value
 
std::vector< MatrixXs > ddli_ddu
 
std::vector< MatrixXs > ddli_ddx
 
std::vector< MatrixXs > ddli_dxdu
 
std::vector< boost::shared_ptr< DifferentialActionDataAbstractTpl< Scalar > > > differential
 
std::vector< MatrixXs > dki_du
 
std::vector< MatrixXs > dki_dx
 
std::vector< MatrixXs > dki_dy
 
std::vector< VectorXs > dli_du
 
std::vector< VectorXs > dli_dx
 
VectorXs dx
 
std::vector< VectorXs > dx_rk4
 
std::vector< MatrixXs > dyi_du
 
std::vector< MatrixXs > dyi_dx
 
MatrixXs Fu
 Jacobian of the dynamics.
 
MatrixXs Fx
 Jacobian of the dynamics.
 
std::vector< Scalar > integral
 
std::vector< VectorXs > ki
 
VectorXs Lu
 Jacobian of the cost function.
 
MatrixXs Luu
 Hessian of the cost function.
 
std::vector< MatrixXs > Luu_partialx
 
VectorXs Lx
 Jacobian of the cost function.
 
MatrixXs Lxu
 Hessian of the cost function.
 
MatrixXs Lxx
 Hessian of the cost function.
 
std::vector< MatrixXs > Lxx_partialu
 
std::vector< MatrixXs > Lxx_partialx
 
VectorXs r
 Cost residual.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xnext
 evolution state
 
std::vector< VectorXs > y
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::IntegratedActionDataRK4Tpl< _Scalar >

Definition at line 53 of file fwd.hpp.


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