Crocoddyl
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DifferentialActionDataContactInvDynamicsTpl< _Scalar > Struct Template Reference
Inheritance diagram for DifferentialActionDataContactInvDynamicsTpl< _Scalar >:
DifferentialActionDataAbstractTpl< _Scalar >

Classes

struct  ResidualDataActuation
struct  ResidualDataContact

Public Types

typedef DifferentialActionDataAbstractTpl< Scalar > Base
typedef ConstraintDataManagerTpl< Scalar > ConstraintDataManager
typedef ContactItemTpl< Scalar > ContactItem
typedef ContactModelMultipleTpl< Scalar > ContactModelMultiple
typedef CostDataSumTpl< Scalar > CostDataSum
typedef DataCollectorJointActMultibodyInContactTpl< Scalar > DataCollectorJointActMultibodyInContact
typedef JointDataAbstractTpl< Scalar > JointDataAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs
Public Types inherited from DifferentialActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 DifferentialActionDataContactInvDynamicsTpl (Model< Scalar > *const model)
Public Member Functions inherited from DifferentialActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 DifferentialActionDataAbstractTpl (Model< Scalar > *const model)

Public Attributes

std::shared_ptr< ConstraintDataManager > constraints
 Constraints data.
Scalar cost
 cost value
std::shared_ptr< CostDataSum > costs
 Costs data.
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 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 $\mathbf{x}$.
DataCollectorJointActMultibodyInContact multibody
 Multibody data.
pinocchio::DataTpl< Scalar > pinocchio
 Pinocchio data.
VectorXs r
 Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
MatrixXs tmp_Jstatic
 Jacobian used for computing the quasi-static input.
VectorXs tmp_rstatic
 Factorization used for computing the quasi-static input.
VectorXs tmp_xstatic
 State point used for computing the quasi-static input.
VectorXs xout
 evolution state
Public Attributes inherited from DifferentialActionDataAbstractTpl< _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 xout
 evolution state

Detailed Description

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

Definition at line 603 of file contact-invdyn.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 607 of file contact-invdyn.hpp.

◆ Base

template<typename _Scalar>
typedef DifferentialActionDataAbstractTpl<Scalar> Base

Definition at line 608 of file contact-invdyn.hpp.

◆ JointDataAbstract

template<typename _Scalar>
typedef JointDataAbstractTpl<Scalar> JointDataAbstract

Definition at line 609 of file contact-invdyn.hpp.

◆ DataCollectorJointActMultibodyInContact

template<typename _Scalar>
typedef DataCollectorJointActMultibodyInContactTpl<Scalar> DataCollectorJointActMultibodyInContact

Definition at line 611 of file contact-invdyn.hpp.

◆ CostDataSum

template<typename _Scalar>
typedef CostDataSumTpl<Scalar> CostDataSum

Definition at line 612 of file contact-invdyn.hpp.

◆ ConstraintDataManager

template<typename _Scalar>
typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager

Definition at line 613 of file contact-invdyn.hpp.

◆ ContactModelMultiple

template<typename _Scalar>
typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Definition at line 614 of file contact-invdyn.hpp.

◆ ContactItem

template<typename _Scalar>
typedef ContactItemTpl<Scalar> ContactItem

Definition at line 615 of file contact-invdyn.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 616 of file contact-invdyn.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 617 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataContactInvDynamicsTpl()

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

Definition at line 620 of file contact-invdyn.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 606 of file contact-invdyn.hpp.

◆ pinocchio

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

Pinocchio data.

Definition at line 678 of file contact-invdyn.hpp.

◆ multibody

template<typename _Scalar>
DataCollectorJointActMultibodyInContact multibody

Multibody data.

Definition at line 679 of file contact-invdyn.hpp.

◆ costs

template<typename _Scalar>
std::shared_ptr<CostDataSum> costs

Costs data.

Definition at line 680 of file contact-invdyn.hpp.

◆ constraints

template<typename _Scalar>
std::shared_ptr<ConstraintDataManager> constraints

Constraints data.

Definition at line 681 of file contact-invdyn.hpp.

◆ tmp_xstatic

template<typename _Scalar>
VectorXs tmp_xstatic

State point used for computing the quasi-static input.

Definition at line 683 of file contact-invdyn.hpp.

◆ tmp_rstatic

template<typename _Scalar>
VectorXs tmp_rstatic

Factorization used for computing the quasi-static input.

Definition at line 685 of file contact-invdyn.hpp.

◆ tmp_Jstatic

template<typename _Scalar>
MatrixXs tmp_Jstatic

Jacobian used for computing the quasi-static input.

Definition at line 686 of file contact-invdyn.hpp.

◆ cost

template<typename _Scalar>
Scalar cost

cost value

Definition at line 445 of file diff-action-base.hpp.

◆ Fu

template<typename _Scalar>
MatrixXs Fu

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

Definition at line 449 of file diff-action-base.hpp.

◆ Fx

template<typename _Scalar>
MatrixXs Fx

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

Definition at line 447 of file diff-action-base.hpp.

◆ Lu

template<typename _Scalar>
VectorXs Lu

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

Definition at line 452 of file diff-action-base.hpp.

◆ Luu

template<typename _Scalar>
MatrixXs Luu

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

Definition at line 456 of file diff-action-base.hpp.

◆ Lx

template<typename _Scalar>
VectorXs Lx

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

Definition at line 451 of file diff-action-base.hpp.

◆ Lxu

template<typename _Scalar>
MatrixXs Lxu

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

Definition at line 454 of file diff-action-base.hpp.

◆ Lxx

template<typename _Scalar>
MatrixXs Lxx

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

Definition at line 453 of file diff-action-base.hpp.

◆ r

template<typename _Scalar>
VectorXs r

Cost residual.

Definition at line 450 of file diff-action-base.hpp.

◆ xout

template<typename _Scalar>
VectorXs xout

evolution state

Definition at line 446 of file diff-action-base.hpp.

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