Crocoddyl
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IpoptInterfaceDataTpl< _Scalar > Struct Template Reference

Public Types

typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

 IpoptInterfaceDataTpl (const std::size_t nx, const std::size_t ndx, const std::size_t nu)
void resize (const std::size_t nx, const std::size_t ndx, const std::size_t nu)

Public Attributes

VectorXs dx
 Increment in the tangent space.
VectorXs dxnext
 Increment in the tangent space at next node.
MatrixXs FxJint_dx
 Intermediate computation needed for Jg_ic.
MatrixXs Jdiff_x
 Jacobian of the diff operation w.r.t the first element.
MatrixXs Jdiff_xnext
MatrixXs Jg_dx
 Jacobian of the dynamic constraint w.r.t dx.
MatrixXs Jg_dxnext
 Jacobian of the dynamic constraint w.r.t dxnext.
MatrixXs Jg_ic
 Jacobian of the initial condition constraint w.r.t dx.
MatrixXs Jg_u
 Jacobian of the dynamic constraint w.r.t u.
MatrixXs Jint_dx
 Jacobian of the sum operation w.r.t dx.
MatrixXs Jint_dxnext
 Jacobian of the sum operation w.r.t dx at next node.
VectorXs Ldx
 Jacobian of the cost w.r.t dx.
MatrixXs Ldxdx
 Hessian of the cost w.r.t dxdx.
MatrixXs Ldxu
 Hessian of the cost w.r.t dxu.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
VectorXs u
 Control.
VectorXs x
 Integrated state.
VectorXs x_diff
 State difference.
VectorXs xnext
 Integrated state at next node.

Detailed Description

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

Definition at line 483 of file ipopt-iface.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 487 of file ipopt-iface.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 488 of file ipopt-iface.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 489 of file ipopt-iface.hpp.

Constructor & Destructor Documentation

◆ IpoptInterfaceDataTpl()

template<typename _Scalar>
IpoptInterfaceDataTpl(const std::size_tnx,
const std::size_tndx,
const std::size_tnu )
inline

Definition at line 491 of file ipopt-iface.hpp.

Member Function Documentation

◆ resize()

template<typename _Scalar>
void resize(const std::size_tnx,
const std::size_tndx,
const std::size_tnu )
inline

Definition at line 531 of file ipopt-iface.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 486 of file ipopt-iface.hpp.

◆ x

template<typename _Scalar>
VectorXs x

Integrated state.

Definition at line 553 of file ipopt-iface.hpp.

◆ xnext

template<typename _Scalar>
VectorXs xnext

Integrated state at next node.

Definition at line 554 of file ipopt-iface.hpp.

◆ dx

template<typename _Scalar>
VectorXs dx

Increment in the tangent space.

Definition at line 555 of file ipopt-iface.hpp.

◆ dxnext

template<typename _Scalar>
VectorXs dxnext

Increment in the tangent space at next node.

Definition at line 556 of file ipopt-iface.hpp.

◆ x_diff

template<typename _Scalar>
VectorXs x_diff

State difference.

Definition at line 557 of file ipopt-iface.hpp.

◆ u

template<typename _Scalar>
VectorXs u

Control.

Definition at line 558 of file ipopt-iface.hpp.

◆ Jint_dx

template<typename _Scalar>
MatrixXs Jint_dx

Jacobian of the sum operation w.r.t dx.

Definition at line 559 of file ipopt-iface.hpp.

◆ Jint_dxnext

template<typename _Scalar>
MatrixXs Jint_dxnext

Jacobian of the sum operation w.r.t dx at next node.

Definition at line 561 of file ipopt-iface.hpp.

◆ Jdiff_x

template<typename _Scalar>
MatrixXs Jdiff_x

Jacobian of the diff operation w.r.t the first element.

Definition at line 562 of file ipopt-iface.hpp.

◆ Jdiff_xnext

template<typename _Scalar>
MatrixXs Jdiff_xnext

Jacobian of the diff operation w.r.t the first element at the next node

Definition at line 563 of file ipopt-iface.hpp.

◆ Jg_dx

template<typename _Scalar>
MatrixXs Jg_dx

Jacobian of the dynamic constraint w.r.t dx.

Definition at line 565 of file ipopt-iface.hpp.

◆ Jg_dxnext

template<typename _Scalar>
MatrixXs Jg_dxnext

Jacobian of the dynamic constraint w.r.t dxnext.

Definition at line 566 of file ipopt-iface.hpp.

◆ Jg_u

template<typename _Scalar>
MatrixXs Jg_u

Jacobian of the dynamic constraint w.r.t u.

Definition at line 567 of file ipopt-iface.hpp.

◆ Jg_ic

template<typename _Scalar>
MatrixXs Jg_ic

Jacobian of the initial condition constraint w.r.t dx.

Definition at line 568 of file ipopt-iface.hpp.

◆ FxJint_dx

template<typename _Scalar>
MatrixXs FxJint_dx

Intermediate computation needed for Jg_ic.

Definition at line 569 of file ipopt-iface.hpp.

◆ Ldx

template<typename _Scalar>
VectorXs Ldx

Jacobian of the cost w.r.t dx.

Definition at line 570 of file ipopt-iface.hpp.

◆ Ldxdx

template<typename _Scalar>
MatrixXs Ldxdx

Hessian of the cost w.r.t dxdx.

Definition at line 571 of file ipopt-iface.hpp.

◆ Ldxu

template<typename _Scalar>
MatrixXs Ldxu

Hessian of the cost w.r.t dxu.

Definition at line 572 of file ipopt-iface.hpp.

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