Crocoddyl
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ActionDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActionDataAbstractTpl< _Scalar >:
ActionDataImpulseFwdDynamicsTpl< _Scalar >ActionDataLQRTpl< _Scalar >ActionDataNumDiffTpl< _Scalar >ActionDataUnicycleTpl< _Scalar >IntegratedActionDataAbstractTpl< _Scalar >IntegratedActionDataEulerTpl< _Scalar >IntegratedActionDataRKTpl< _Scalar >

Public Types

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

Public Member Functions

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

Public Attributes

Scalar cost
 cost value
MatrixXs Fu
 Jacobian of the dynamics w.r.t. the control $\mathbf{u}$.
MatrixXs Fx
 Jacobian of the dynamics w.r.t. the state $\mathbf{x}$.
VectorXs g
 Inequality constraint values.
MatrixXs Gu
MatrixXs Gx
VectorXs h
 Equality constraint values.
MatrixXs Hu
MatrixXs Hx
VectorXs Lu
 Jacobian of the cost w.r.t. the control $\mathbf{u}$.
MatrixXs Luu
 Hessian of the cost w.r.t. the control $\mathbf{u}$.
VectorXs Lx
 Jacobian of the cost w.r.t. the state $\mathbf{x}$.
MatrixXs Lxu
MatrixXs Lxx
 Hessian of the cost w.r.t. the state $\mathbf{x}$.
VectorXs r
 Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
VectorXs xnext
 evolution state

Detailed Description

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

Definition at line 356 of file action-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 360 of file action-base.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 361 of file action-base.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 362 of file action-base.hpp.

Constructor & Destructor Documentation

◆ ActionDataAbstractTpl()

template<typename _Scalar>
template<template< typename Scalar > class Model>
ActionDataAbstractTpl(Model< Scalar > *constmodel)
inlineexplicit

Definition at line 365 of file action-base.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 359 of file action-base.hpp.

◆ cost

template<typename _Scalar>
Scalar cost

cost value

Definition at line 410 of file action-base.hpp.

◆ xnext

template<typename _Scalar>
VectorXs xnext

evolution state

Definition at line 411 of file action-base.hpp.

◆ Fx

template<typename _Scalar>
MatrixXs Fx

Jacobian of the dynamics w.r.t. the state $\mathbf{x}$.

Definition at line 412 of file action-base.hpp.

◆ Fu

template<typename _Scalar>
MatrixXs Fu

Jacobian of the dynamics w.r.t. the control $\mathbf{u}$.

Definition at line 414 of file action-base.hpp.

◆ r

template<typename _Scalar>
VectorXs r

Cost residual.

Definition at line 415 of file action-base.hpp.

◆ Lx

template<typename _Scalar>
VectorXs Lx

Jacobian of the cost w.r.t. the state $\mathbf{x}$.

Definition at line 416 of file action-base.hpp.

◆ Lu

template<typename _Scalar>
VectorXs Lu

Jacobian of the cost w.r.t. the control $\mathbf{u}$.

Definition at line 417 of file action-base.hpp.

◆ Lxx

template<typename _Scalar>
MatrixXs Lxx

Hessian of the cost w.r.t. the state $\mathbf{x}$.

Definition at line 418 of file action-base.hpp.

◆ Lxu

template<typename _Scalar>
MatrixXs Lxu

Hessian of the cost w.r.t. the state $\mathbf{x}$ and control $\mathbf{u}$

Definition at line 419 of file action-base.hpp.

◆ Luu

template<typename _Scalar>
MatrixXs Luu

Hessian of the cost w.r.t. the control $\mathbf{u}$.

Definition at line 421 of file action-base.hpp.

◆ g

template<typename _Scalar>
VectorXs g

Inequality constraint values.

Definition at line 422 of file action-base.hpp.

◆ Gx

template<typename _Scalar>
MatrixXs Gx

Jacobian of the inequality constraint w.r.t. the state $\mathbf{x}$

Definition at line 423 of file action-base.hpp.

◆ Gu

template<typename _Scalar>
MatrixXs Gu

Jacobian of the inequality constraint w.r.t. the control $\mathbf{u}$

Definition at line 425 of file action-base.hpp.

◆ h

template<typename _Scalar>
VectorXs h

Equality constraint values.

Definition at line 427 of file action-base.hpp.

◆ Hx

template<typename _Scalar>
MatrixXs Hx

Jacobian of the equality constraint w.r.t. the state $\mathbf{x}$

Definition at line 428 of file action-base.hpp.

◆ Hu

template<typename _Scalar>
MatrixXs Hu

Jacobian of the equality constraint w.r.t. the control $\mathbf{u}$

Definition at line 430 of file action-base.hpp.

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