Crocoddyl
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ActionDataImpulseFwdDynamicsTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActionDataImpulseFwdDynamicsTpl< _Scalar >:
ActionDataAbstractTpl< _Scalar >

Public Types

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>
 ActionDataImpulseFwdDynamicsTpl (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::shared_ptr< ConstraintDataManagerTpl< Scalar > > constraints
std::shared_ptr< CostDataSumTpl< Scalar > > costs
MatrixXs df_dx
MatrixXs dgrav_dq
MatrixXs Kinv
DataCollectorMultibodyInImpulseTpl< Scalar > multibody
pinocchio::DataTpl< Scalar > pinocchio
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
VectorXs vnone
Public Attributes inherited from ActionDataAbstractTpl< _Scalar >
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::ActionDataImpulseFwdDynamicsTpl< _Scalar >

Definition at line 330 of file impulse-fwddyn.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 333 of file impulse-fwddyn.hpp.

◆ Base

template<typename _Scalar>
typedef ActionDataAbstractTpl<Scalar> Base

Definition at line 334 of file impulse-fwddyn.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 335 of file impulse-fwddyn.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 336 of file impulse-fwddyn.hpp.

Constructor & Destructor Documentation

◆ ActionDataImpulseFwdDynamicsTpl()

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

Definition at line 339 of file impulse-fwddyn.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 332 of file impulse-fwddyn.hpp.

◆ pinocchio

template<typename _Scalar>
pinocchio::DataTpl<Scalar> pinocchio

Definition at line 364 of file impulse-fwddyn.hpp.

◆ multibody

template<typename _Scalar>
DataCollectorMultibodyInImpulseTpl<Scalar> multibody

Definition at line 365 of file impulse-fwddyn.hpp.

◆ costs

template<typename _Scalar>
std::shared_ptr<CostDataSumTpl<Scalar> > costs

Definition at line 366 of file impulse-fwddyn.hpp.

◆ constraints

template<typename _Scalar>
std::shared_ptr<ConstraintDataManagerTpl<Scalar> > constraints

Definition at line 367 of file impulse-fwddyn.hpp.

◆ vnone

template<typename _Scalar>
VectorXs vnone

Definition at line 368 of file impulse-fwddyn.hpp.

◆ Kinv

template<typename _Scalar>
MatrixXs Kinv

Definition at line 369 of file impulse-fwddyn.hpp.

◆ df_dx

template<typename _Scalar>
MatrixXs df_dx

Definition at line 370 of file impulse-fwddyn.hpp.

◆ dgrav_dq

template<typename _Scalar>
MatrixXs dgrav_dq

Definition at line 371 of file impulse-fwddyn.hpp.

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