Crocoddyl
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GuidanceDataSmoothSaturationTpl< _Scalar > Struct Template Reference

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

#include <smooth-saturation.hpp>

Inheritance diagram for GuidanceDataSmoothSaturationTpl< _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>
 GuidanceDataSmoothSaturationTpl (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
Scalar radius
 Cached radial term $r_\epsilon$.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
Scalar scale
 Cached scalar scale $v_{\max}\tanh(z)/r_\epsilon$.
Scalar tanh_z
 Cached value of $\tanh(z)$.
Scalar z
 Cached saturation argument $k r_\epsilon / v_{\max}$.
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::GuidanceDataSmoothSaturationTpl< _Scalar >

Cached values for the smooth saturation guidance model.

The cached values avoid recomputing the radial norm and saturation arguments during calcDiff().

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

Member Typedef Documentation

◆ Base

template<typename _Scalar>
typedef GuidanceDataAbstractTpl<Scalar> Base

Definition at line 168 of file smooth-saturation.hpp.

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 169 of file smooth-saturation.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 170 of file smooth-saturation.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 171 of file smooth-saturation.hpp.

Constructor & Destructor Documentation

◆ GuidanceDataSmoothSaturationTpl()

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

Definition at line 174 of file smooth-saturation.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 167 of file smooth-saturation.hpp.

◆ radius

template<typename _Scalar>
Scalar radius

Cached radial term $r_\epsilon$.

Definition at line 182 of file smooth-saturation.hpp.

◆ scale

template<typename _Scalar>
Scalar scale

Cached scalar scale $v_{\max}\tanh(z)/r_\epsilon$.

Definition at line 183 of file smooth-saturation.hpp.

◆ z

template<typename _Scalar>
Scalar z

Cached saturation argument $k r_\epsilon / v_{\max}$.

Definition at line 184 of file smooth-saturation.hpp.

◆ tanh_z

template<typename _Scalar>
Scalar tanh_z

Cached value of $\tanh(z)$.

Definition at line 185 of file smooth-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: