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

Classes

struct  ResidualDataActuation

Public Types

typedef DifferentialActionDataAbstractTpl< Scalar > Base
typedef ConstraintDataManagerTpl< Scalar > ConstraintDataManager
typedef CostDataSumTpl< Scalar > CostDataSum
typedef DataCollectorJointActMultibodyTpl< Scalar > DataCollectorJointActMultibody
typedef JointDataAbstractTpl< Scalar > JointDataAbstract
typedef MathBaseTpl< Scalar > MathBase
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>
 DifferentialActionDataFreeInvDynamicsTpl (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 $\mathbf{x}$.
DataCollectorJointActMultibody multibody
 Multibody data.
pinocchio::DataTpl< Scalar > pinocchio
 Pinocchio data.
VectorXs r
 Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
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::DifferentialActionDataFreeInvDynamicsTpl< _Scalar >

Definition at line 422 of file free-invdyn.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 426 of file free-invdyn.hpp.

◆ Base

template<typename _Scalar>
typedef DifferentialActionDataAbstractTpl<Scalar> Base

Definition at line 427 of file free-invdyn.hpp.

◆ JointDataAbstract

template<typename _Scalar>
typedef JointDataAbstractTpl<Scalar> JointDataAbstract

Definition at line 428 of file free-invdyn.hpp.

◆ DataCollectorJointActMultibody

template<typename _Scalar>
typedef DataCollectorJointActMultibodyTpl<Scalar> DataCollectorJointActMultibody

Definition at line 430 of file free-invdyn.hpp.

◆ CostDataSum

template<typename _Scalar>
typedef CostDataSumTpl<Scalar> CostDataSum

Definition at line 431 of file free-invdyn.hpp.

◆ ConstraintDataManager

template<typename _Scalar>
typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager

Definition at line 432 of file free-invdyn.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 433 of file free-invdyn.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionDataFreeInvDynamicsTpl()

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

Definition at line 436 of file free-invdyn.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 425 of file free-invdyn.hpp.

◆ pinocchio

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

Pinocchio data.

Definition at line 455 of file free-invdyn.hpp.

◆ multibody

template<typename _Scalar>
DataCollectorJointActMultibody multibody

Multibody data.

Definition at line 456 of file free-invdyn.hpp.

◆ costs

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

Costs data.

Definition at line 457 of file free-invdyn.hpp.

◆ constraints

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

Constraints data.

Definition at line 458 of file free-invdyn.hpp.

◆ tmp_xstatic

template<typename _Scalar>
VectorXs tmp_xstatic

State point used for computing the quasi-static input.

Definition at line 460 of file free-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: