Crocoddyl
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GuidanceDataComponentwiseSaturationTpl< _Scalar > Struct Template Reference

Cached values for the componentwise saturation guidance model. More...

#include <componentwise-saturation.hpp>

Inheritance diagram for GuidanceDataComponentwiseSaturationTpl< _Scalar >:
GuidanceDataAbstractTpl< _Scalar >

Public Types

typedef GuidanceDataAbstractTpl< Scalar > Base
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs
Public Types inherited from GuidanceDataAbstractTpl< _Scalar >
typedef GuidanceModelAbstractTpl< Scalar > GuidanceModelAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<typename Guidance>
 GuidanceDataComponentwiseSaturationTpl (Guidance *const guidance)
Public Member Functions inherited from GuidanceDataAbstractTpl< _Scalar >
 GuidanceDataAbstractTpl (const GuidanceModelAbstract *const model)
 Allocate guidance data with the size inferred from the model.

Public Attributes

VectorXs g
MatrixXs Ge
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
VectorXs tanh_z
 Cached componentwise tanh values.
VectorXs z
 Cached componentwise saturation arguments.
Public Attributes inherited from GuidanceDataAbstractTpl< _Scalar >
VectorXs g
MatrixXs Ge
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Detailed Description

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

Cached values for the componentwise saturation guidance model.

The cached values avoid recomputing the per-component saturation arguments and hyperbolic tangent values in calcDiff().

Definition at line 146 of file componentwise-saturation.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar>
typedef GuidanceDataAbstractTpl<Scalar> Base

Definition at line 151 of file componentwise-saturation.hpp.

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 152 of file componentwise-saturation.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 153 of file componentwise-saturation.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 154 of file componentwise-saturation.hpp.

Constructor & Destructor Documentation

◆ GuidanceDataComponentwiseSaturationTpl()

template<typename _Scalar>
template<typename Guidance>
GuidanceDataComponentwiseSaturationTpl(Guidance *constguidance)
inlineexplicit

Definition at line 157 of file componentwise-saturation.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 150 of file componentwise-saturation.hpp.

◆ z

template<typename _Scalar>
VectorXs z

Cached componentwise saturation arguments.

Definition at line 163 of file componentwise-saturation.hpp.

◆ tanh_z

template<typename _Scalar>
VectorXs tanh_z

Cached componentwise tanh values.

Definition at line 164 of file componentwise-saturation.hpp.

◆ g

template<typename _Scalar>
VectorXs g

Definition at line 147 of file guidance-base.hpp.

◆ Ge

template<typename _Scalar>
MatrixXs Ge

Definition at line 148 of file guidance-base.hpp.

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