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, const 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< DifferentialActionDataAbstract > | createData () |
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< StateAbstract > | state_ |
< Control dimension | |
VectorXs | u_lb_ |
< Model of the state | |
VectorXs | u_ub_ |
< Lower control limits | |
VectorXs | unone_ |
< Upper control limits | |