crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
IntegratedActionDataRK4Tpl< _Scalar > Struct Template Reference
Inheritance diagram for IntegratedActionDataRK4Tpl< _Scalar >:
Collaboration diagram for IntegratedActionDataRK4Tpl< _Scalar >:

Public Types

typedef IntegratedActionDataAbstractTpl< Scalar > Base
 
typedef ControlParametrizationDataAbstractTpl< Scalar > ControlParametrizationDataAbstract
 
typedef DifferentialActionDataAbstractTpl< Scalar > DifferentialActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from IntegratedActionDataAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActionDataAbstractTpl< _Scalar >
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 Member Functions inherited from IntegratedActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 IntegratedActionDataAbstractTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

std::vector< boost::shared_ptr< ControlParametrizationDataAbstract > > control
 List of control parametrization data.
 
Scalar cost
 cost value
 
std::vector< MatrixXs > ddli_ddu
 
std::vector< MatrixXs > ddli_ddw
 
std::vector< MatrixXs > ddli_ddx
 
std::vector< MatrixXs > ddli_dwdu
 
std::vector< MatrixXs > ddli_dxdu
 
std::vector< MatrixXs > ddli_dxdw
 
std::vector< boost::shared_ptr< DifferentialActionDataAbstract > > differential
 List of differential model data.
 
std::vector< MatrixXs > dki_du
 
std::vector< MatrixXs > dki_dx
 List of partial derivatives of RK4 nodes with respect to the state of the RK4 integration. dki/dx.
 
std::vector< VectorXs > dli_du
 
std::vector< VectorXs > dli_dx
 List of partial derivatives of the cost with respect to the state of the RK4 integration. dli_dx.
 
VectorXs dx
 State rate.
 
std::vector< VectorXs > dx_rk4
 
std::vector< MatrixXs > dyi_du
 
std::vector< MatrixXs > dyi_dx
 List of partial derivatives of RK4 dynamics with respect to the state of the RK4 integrator. dyi/dx.
 
MatrixXs Fu
 Jacobian of the dynamics.
 
MatrixXs Fx
 Jacobian of the dynamics.
 
std::vector< Scalar > integral
 
std::vector< VectorXs > ki
 List of RK4 terms related to system dynamics.
 
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.
 
std::vector< MatrixXs > Lxu_i
 
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
 
std::vector< VectorXs > ws
 Control inputs evaluated in the RK4 integration.
 
VectorXs xnext
 evolution state
 
std::vector< VectorXs > y
 List of states where f is evaluated in the RK4 integration.
 
- Public Attributes inherited from IntegratedActionDataAbstractTpl< _Scalar >
Scalar cost
 cost value
 
MatrixXs Fu
 Jacobian of the dynamics.
 
MatrixXs Fx
 Jacobian of the dynamics.
 
VectorXs Lu
 Jacobian of the cost function.
 
MatrixXs Luu
 Hessian of the cost function.
 
VectorXs Lx
 Jacobian of the cost function.
 
MatrixXs Lxu
 Hessian of the cost function.
 
MatrixXs Lxx
 Hessian of the cost function.
 
VectorXs r
 Cost residual.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xnext
 evolution state
 
- Public Attributes inherited from ActionDataAbstractTpl< _Scalar >
Scalar cost
 cost value
 
MatrixXs Fu
 Jacobian of the dynamics.
 
MatrixXs Fx
 Jacobian of the dynamics.
 
VectorXs Lu
 Jacobian of the cost function.
 
MatrixXs Luu
 Hessian of the cost function.
 
VectorXs Lx
 Jacobian of the cost function.
 
MatrixXs Lxu
 Hessian of the cost function.
 
MatrixXs Lxx
 Hessian of the cost function.
 
VectorXs r
 Cost residual.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xnext
 evolution state
 

Detailed Description

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

Definition at line 164 of file rk4.hpp.

Member Data Documentation

◆ dki_du

std::vector<MatrixXs> dki_du

List of partial derivatives of RK4 nodes with respect to the control parameters of the RK4 integration. dki/du

Definition at line 226 of file rk4.hpp.

◆ dyi_du

std::vector<MatrixXs> dyi_du

List of partial derivatives of RK4 dynamics with respect to the control parameters of the RK4 integrator. dyi/du

Definition at line 231 of file rk4.hpp.

◆ dli_du

std::vector<VectorXs> dli_du

List of partial derivatives of the cost with respect to the control input of the RK4 integration. dli_du

Definition at line 236 of file rk4.hpp.

◆ ddli_ddx

std::vector<MatrixXs> ddli_ddx

List of second partial derivatives of the cost with respect to the state of the RK4 integration. ddli_ddx

Definition at line 239 of file rk4.hpp.

◆ ddli_ddw

std::vector<MatrixXs> ddli_ddw

List of second partial derivatives of the cost with respect to the control parameters of the RK4 integration. ddli_ddw

Definition at line 241 of file rk4.hpp.

◆ ddli_ddu

std::vector<MatrixXs> ddli_ddu

List of second partial derivatives of the cost with respect to the control input of the RK4 integration. ddli_ddu

Definition at line 243 of file rk4.hpp.

◆ ddli_dxdw

std::vector<MatrixXs> ddli_dxdw

List of second partial derivatives of the cost with respect to the state and control input of the RK4 integration. ddli_dxdw

Definition at line 245 of file rk4.hpp.

◆ ddli_dxdu

std::vector<MatrixXs> ddli_dxdu

List of second partial derivatives of the cost with respect to the state and control parameters of the RK4 integration. ddli_dxdu

Definition at line 247 of file rk4.hpp.

◆ ddli_dwdu

std::vector<MatrixXs> ddli_dwdu

List of second partial derivatives of the cost with respect to the control parameters and inputs control of the RK4 integration. ddli_dwdu

Definition at line 249 of file rk4.hpp.


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