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IntegratedActionDataEulerTpl< _Scalar > Struct Template Reference
Inheritance diagram for IntegratedActionDataEulerTpl< _Scalar >:
IntegratedActionDataAbstractTpl< _Scalar >ActionDataAbstractTpl< _Scalar >

Public Types

typedef IntegratedActionDataAbstractTpl< Scalar > Base
typedef ControlParametrizationDataAbstractTpl< Scalar > ControlParametrizationDataAbstract
typedef DifferentialActionDataAbstractTpl< Scalar > DifferentialActionDataAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs
Public Types inherited from IntegratedActionDataAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > Base
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
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>
 IntegratedActionDataEulerTpl (Model< Scalar > *const model)
Public Member Functions inherited from IntegratedActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 IntegratedActionDataAbstractTpl (Model< Scalar > *const model)
Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)

Public Attributes

std::shared_ptr< ControlParametrizationDataAbstract > control
 Control parametrization data.
Scalar cost
 cost value
MatrixXs da_du
std::shared_ptr< DifferentialActionDataAbstract > differential
 Differential model data.
VectorXs dx
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 $\mathbf{u}$.
MatrixXs Lwu
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
Public Attributes inherited from IntegratedActionDataAbstractTpl< _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 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
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::IntegratedActionDataEulerTpl< _Scalar >

Definition at line 201 of file euler.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 206 of file euler.hpp.

◆ Base

template<typename _Scalar>
typedef IntegratedActionDataAbstractTpl<Scalar> Base

Definition at line 207 of file euler.hpp.

◆ DifferentialActionDataAbstract

template<typename _Scalar>
typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract

Definition at line 209 of file euler.hpp.

◆ ControlParametrizationDataAbstract

template<typename _Scalar>
typedef ControlParametrizationDataAbstractTpl<Scalar> ControlParametrizationDataAbstract

Definition at line 211 of file euler.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 212 of file euler.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 213 of file euler.hpp.

Constructor & Destructor Documentation

◆ IntegratedActionDataEulerTpl()

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

Definition at line 216 of file euler.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 205 of file euler.hpp.

◆ differential

template<typename _Scalar>
std::shared_ptr<DifferentialActionDataAbstract> differential

Differential model data.

Definition at line 229 of file euler.hpp.

◆ control

template<typename _Scalar>
std::shared_ptr<ControlParametrizationDataAbstract> control

Control parametrization data.

Definition at line 231 of file euler.hpp.

◆ dx

template<typename _Scalar>
VectorXs dx

Definition at line 232 of file euler.hpp.

◆ da_du

template<typename _Scalar>
MatrixXs da_du

Definition at line 233 of file euler.hpp.

◆ Lwu

template<typename _Scalar>
MatrixXs Lwu

Hessian of the cost function with respect to the control input (w) and control parameters (u)

Definition at line 234 of file euler.hpp.

◆ Lxu

template<typename _Scalar>

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

The documentation for this struct was generated from the following files:
  • /build/source/include/crocoddyl/core/fwd.hpp
  • /build/source/include/crocoddyl/core/integrator/euler.hpp