crocoddyl  1.8.1
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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 print (std::ostream &os) const
 Print relevant information of the Runge-Kutta 4 integrator model. More...
 
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

std::size_t nr_
 Dimension of the cost residual.
 
std::size_t nu_
 < Dimension of the cost residual
 
boost::shared_ptr< StateAbstractstate_
 < Control dimension
 
VectorXs unone_
 < Model of the state
 

Detailed Description

template<typename _Scalar>
class crocoddyl::IntegratedActionModelRK4Tpl< _Scalar >

Definition at line 51 of file fwd.hpp.

Member Function Documentation

◆ print()

virtual void print ( std::ostream &  os) const
virtual

Print relevant information of the Runge-Kutta 4 integrator model.

Parameters
[out]osOutput stream object

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