Crocoddyl
Loading...
Searching...
No Matches
ActionDataLQRTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActionDataLQRTpl< _Scalar >:
ActionDataAbstractTpl< _Scalar >

Public Types

typedef ActionDataAbstractTpl< Scalar > Base
typedef MathBaseTpl< Scalar > MathBase
typedef _Scalar Scalar
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>
 ActionDataLQRTpl (Model< Scalar > *const model)
Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
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 $\mathbf{x}$.
MatrixXs Gu
MatrixXs Gx
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 Q_x_tmp
VectorXs r
 Cost residual.
VectorXs R_u_tmp
VectorXs xnext
 evolution state
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::ActionDataLQRTpl< _Scalar >

Definition at line 293 of file lqr.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>
typedef _Scalar Scalar

Definition at line 294 of file lqr.hpp.

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 295 of file lqr.hpp.

◆ Base

template<typename _Scalar>
typedef ActionDataAbstractTpl<Scalar> Base

Definition at line 296 of file lqr.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 297 of file lqr.hpp.

Constructor & Destructor Documentation

◆ ActionDataLQRTpl()

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

Definition at line 300 of file lqr.hpp.

Member Data Documentation

◆ R_u_tmp

template<typename _Scalar>
VectorXs R_u_tmp

Definition at line 335 of file lqr.hpp.

◆ Q_x_tmp

template<typename _Scalar>
VectorXs Q_x_tmp

Definition at line 337 of file lqr.hpp.

◆ cost

template<typename _Scalar>
Scalar cost

cost value

Definition at line 410 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ 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.

◆ r

template<typename _Scalar>
VectorXs r

Cost residual.

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

◆ xnext

template<typename _Scalar>
VectorXs xnext

evolution state

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

The documentation for this struct was generated from the following file:
  • /build/source/include/crocoddyl/core/actions/lqr.hpp