Inheritance diagram for IntegratedActionDataRKTpl< _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>
	IntegratedActionDataRKTpl (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::vector< std::shared_ptr< ControlParametrizationDataAbstract > >	control
	List of control parametrization data.
Scalar	cost
	cost value
std::vector< MatrixXs >	ddli_ddu
std::vector< MatrixXs >	ddli_ddw
std::vector< MatrixXs >	ddli_ddx
std::vector< MatrixXs >	ddli_dwdu
std::vector< MatrixXs >	ddli_dxdu
std::vector< MatrixXs >	ddli_dxdw
std::vector< std::shared_ptr< DifferentialActionDataAbstract > >	differential
	List of differential model data.
std::vector< MatrixXs >	dki_du
std::vector< MatrixXs >	dki_dx
std::vector< VectorXs >	dli_du
std::vector< VectorXs >	dli_dx
VectorXs	dx
	State rate.
std::vector< VectorXs >	dx_rk
std::vector< MatrixXs >	dyi_du
std::vector< MatrixXs >	dyi_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 $\mathbf{x}$ .
std::vector< Scalar >	integral
std::vector< VectorXs >	ki
	List of RK terms related to system dynamics.
VectorXs	Lu
	Jacobian of the cost w.r.t. the control $\mathbf{u}$ .
MatrixXs	Luu
	Hessian of the cost w.r.t. the control $\mathbf{u}$ .
std::vector< MatrixXs >	Luu_partialx
VectorXs	Lx
	Jacobian of the cost w.r.t. the state $\mathbf{x}$ .
MatrixXs	Lxu
std::vector< MatrixXs >	Lxu_i
MatrixXs	Lxx
	Hessian of the cost w.r.t. the state $\mathbf{x}$ .
std::vector< MatrixXs >	Lxx_partialu
std::vector< MatrixXs >	Lxx_partialx
VectorXs	r
	Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
std::vector< VectorXs >	ws
	Control inputs evaluated in the RK integration.
VectorXs	xnext
	evolution state
std::vector< VectorXs >	y
	List of states where f is evaluated in the RK integration.
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::IntegratedActionDataRKTpl< _Scalar >

Definition at line 221 of file rk.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 226 of file rk.hpp.

◆ Base

template<typename _Scalar>

typedef IntegratedActionDataAbstractTpl<Scalar> Base

Definition at line 227 of file rk.hpp.

◆ DifferentialActionDataAbstract

template<typename _Scalar>

typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract

Definition at line 229 of file rk.hpp.

◆ ControlParametrizationDataAbstract

template<typename _Scalar>

typedef ControlParametrizationDataAbstractTpl<Scalar> ControlParametrizationDataAbstract

Definition at line 231 of file rk.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 232 of file rk.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 233 of file rk.hpp.

Constructor & Destructor Documentation

◆ IntegratedActionDataRKTpl()

template<typename _Scalar>

template<template< typename Scalar > class Model>

IntegratedActionDataRKTpl ( Model< Scalar > *const model )

inlineexplicit

Definition at line 236 of file rk.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 225 of file rk.hpp.

◆ differential

template<typename _Scalar>

std::vector<std::shared_ptr<DifferentialActionDataAbstract> > differential

List of differential model data.

Definition at line 296 of file rk.hpp.

◆ control

template<typename _Scalar>

std::vector<std::shared_ptr<ControlParametrizationDataAbstract> > control

List of control parametrization data.

Definition at line 298 of file rk.hpp.

◆ integral

template<typename _Scalar>

std::vector<Scalar> integral

Definition at line 299 of file rk.hpp.

◆ dx

template<typename _Scalar>

VectorXs dx

State rate.

Definition at line 300 of file rk.hpp.

◆ ki

template<typename _Scalar>

std::vector<VectorXs> ki

List of RK terms related to system dynamics.

Definition at line 301 of file rk.hpp.

◆ y

template<typename _Scalar>

std::vector<VectorXs> y

List of states where f is evaluated in the RK integration.

Definition at line 303 of file rk.hpp.

◆ ws

template<typename _Scalar>

std::vector<VectorXs> ws

Control inputs evaluated in the RK integration.

Definition at line 304 of file rk.hpp.

◆ dx_rk

template<typename _Scalar>

std::vector<VectorXs> dx_rk

Definition at line 305 of file rk.hpp.

◆ dki_dx

template<typename _Scalar>

std::vector<MatrixXs> dki_dx

List of partial derivatives of RK nodes with respect to the state of the RK integration. dki/dx

Definition at line 308 of file rk.hpp.

◆ dki_du

template<typename _Scalar>

std::vector<MatrixXs> dki_du

List of partial derivatives of RK nodes with respect to the control parameters of the RK integration. dki/du

Definition at line 311 of file rk.hpp.

◆ dyi_dx

template<typename _Scalar>

std::vector<MatrixXs> dyi_dx

List of partial derivatives of RK dynamics with respect to the state of the RK integrator. dyi/dx

Definition at line 315 of file rk.hpp.

◆ dyi_du

template<typename _Scalar>

std::vector<MatrixXs> dyi_du

List of partial derivatives of RK dynamics with respect to the control parameters of the RK integrator. dyi/du

Definition at line 318 of file rk.hpp.

◆ dli_dx

template<typename _Scalar>

std::vector<VectorXs> dli_dx

List of partial derivatives of the cost with respect to the state of the RK integration. dli_dx

Definition at line 322 of file rk.hpp.

◆ dli_du

template<typename _Scalar>

std::vector<VectorXs> dli_du

List of partial derivatives of the cost with respect to the control input of the RK integration. dli_du

Definition at line 325 of file rk.hpp.

◆ ddli_ddx

template<typename _Scalar>

std::vector<MatrixXs> ddli_ddx

List of second partial derivatives of the cost with respect to the state of the RK integration. ddli_ddx

Definition at line 329 of file rk.hpp.

◆ ddli_ddw

template<typename _Scalar>

std::vector<MatrixXs> ddli_ddw

List of second partial derivatives of the cost with respect to the control parameters of the RK integration. ddli_ddw

Definition at line 332 of file rk.hpp.

◆ ddli_ddu

template<typename _Scalar>

std::vector<MatrixXs> ddli_ddu

List of second partial derivatives of the cost with respect to the control input of the RK integration. ddli_ddu

Definition at line 335 of file rk.hpp.

◆ ddli_dxdw

template<typename _Scalar>

std::vector<MatrixXs> ddli_dxdw

List of second partial derivatives of the cost with respect to the state and control input of the RK integration. ddli_dxdw

Definition at line 339 of file rk.hpp.

◆ ddli_dxdu

template<typename _Scalar>

std::vector<MatrixXs> ddli_dxdu

List of second partial derivatives of the cost with respect to the state and control parameters of the RK integration. ddli_dxdu

Definition at line 343 of file rk.hpp.

◆ ddli_dwdu

template<typename _Scalar>

std::vector<MatrixXs> ddli_dwdu

List of second partial derivatives of the cost with respect to the control parameters and inputs control of the RK integration. ddli_dwdu

Definition at line 347 of file rk.hpp.

◆ Luu_partialx

template<typename _Scalar>

std::vector<MatrixXs> Luu_partialx

Definition at line 351 of file rk.hpp.

◆ Lxu_i

template<typename _Scalar>

std::vector<MatrixXs> Lxu_i

Definition at line 352 of file rk.hpp.

◆ Lxx_partialx

template<typename _Scalar>

std::vector<MatrixXs> Lxx_partialx

Definition at line 353 of file rk.hpp.

◆ Lxx_partialu

template<typename _Scalar>

std::vector<MatrixXs> Lxx_partialu

Definition at line 354 of file rk.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/rk.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ DifferentialActionDataAbstract

◆ ControlParametrizationDataAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ IntegratedActionDataRKTpl()

Member Data Documentation

◆ Scalar

◆ differential

◆ control

◆ integral

◆ dx

◆ ki

◆ y

◆ ws

◆ dx_rk

◆ dki_dx

◆ dki_du

◆ dyi_dx

◆ dyi_du

◆ dli_dx

◆ dli_du

◆ ddli_ddx

◆ ddli_ddw

◆ ddli_ddu

◆ ddli_dxdw

◆ ddli_dxdu

◆ ddli_dwdu

◆ Luu_partialx

◆ Lxu_i

◆ Lxx_partialx

◆ Lxx_partialu

◆ Lxu