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ResidualDataTaskSecondOrderTpl< _Scalar > Struct Template Reference

Data for the second-order task residual. More...

#include <task-second-order.hpp>

Inheritance diagram for ResidualDataTaskSecondOrderTpl< _Scalar >:
ResidualDataAbstractTpl< _Scalar >

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef GuidanceDataAbstractTpl< Scalar > GuidanceDataAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef TaskDataAbstractTpl< Scalar > TaskDataAbstract
typedef MathBase::VectorXs VectorXs
Public Types inherited from ResidualDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 ResidualDataTaskSecondOrderTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 Construct the residual data.
Public Member Functions inherited from ResidualDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes

MatrixXs Arr_Ru
MatrixXs Arr_Rx
std::shared_ptr< GuidanceDataAbstract > guidance
VectorXs r
 Residual vector.
MatrixXs Ru
 Jacobian of the residual vector with respect the control.
MatrixXs Rx
 Jacobian of the residual vector with respect the state.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared data allocated by the action model.
std::shared_ptr< TaskDataAbstract > task
VectorXs v_error
MatrixXs v_error_u
MatrixXs v_error_x
Public Attributes inherited from ResidualDataAbstractTpl< _Scalar >
MatrixXs Arr_Ru
MatrixXs Arr_Rx
VectorXs r
 Residual vector.
MatrixXs Ru
 Jacobian of the residual vector with respect the control.
MatrixXs Rx
 Jacobian of the residual vector with respect the state.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared data allocated by the action model.

Detailed Description

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

Data for the second-order task residual.

The task data stores $y$, $v$, and $a$. The guidance data stores $g$ and $G_e$. The temporary matrices cache $V_x - G_e Y_x$ and $V_u - G_e Y_u$ for the Jacobian computation.

Definition at line 177 of file task-second-order.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 182 of file task-second-order.hpp.

◆ Base

template<typename _Scalar>
typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 183 of file task-second-order.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 184 of file task-second-order.hpp.

◆ GuidanceDataAbstract

template<typename _Scalar>
typedef GuidanceDataAbstractTpl<Scalar> GuidanceDataAbstract

Definition at line 185 of file task-second-order.hpp.

◆ TaskDataAbstract

template<typename _Scalar>
typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract

Definition at line 186 of file task-second-order.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 187 of file task-second-order.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 188 of file task-second-order.hpp.

Constructor & Destructor Documentation

◆ ResidualDataTaskSecondOrderTpl()

template<typename _Scalar>
template<template< typename Scalar > class Model>
ResidualDataTaskSecondOrderTpl(Model< Scalar > *constmodel,
DataCollectorAbstract *constdata )
inline

Construct the residual data.

The task, guidance, and temporary buffers are allocated from the model and shared data.

Definition at line 197 of file task-second-order.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 181 of file task-second-order.hpp.

◆ task

template<typename _Scalar>
std::shared_ptr<TaskDataAbstract> task

Definition at line 213 of file task-second-order.hpp.

◆ guidance

template<typename _Scalar>
std::shared_ptr<GuidanceDataAbstract> guidance

Definition at line 214 of file task-second-order.hpp.

◆ v_error

template<typename _Scalar>
VectorXs v_error

Definition at line 215 of file task-second-order.hpp.

◆ v_error_x

template<typename _Scalar>
MatrixXs v_error_x

Definition at line 216 of file task-second-order.hpp.

◆ v_error_u

template<typename _Scalar>
MatrixXs v_error_u

Definition at line 217 of file task-second-order.hpp.

◆ Arr_Ru

template<typename _Scalar>
MatrixXs Arr_Ru

Definition at line 281 of file residual-base.hpp.

◆ Arr_Rx

template<typename _Scalar>
MatrixXs Arr_Rx

Definition at line 280 of file residual-base.hpp.

◆ r

template<typename _Scalar>
VectorXs r

Residual vector.

Definition at line 277 of file residual-base.hpp.

◆ Ru

template<typename _Scalar>
MatrixXs Ru

Jacobian of the residual vector with respect the control.

Definition at line 279 of file residual-base.hpp.

◆ Rx

template<typename _Scalar>
MatrixXs Rx

Jacobian of the residual vector with respect the state.

Definition at line 278 of file residual-base.hpp.

◆ shared

template<typename _Scalar>
DataCollectorAbstract* shared

Shared data allocated by the action model.

Definition at line 276 of file residual-base.hpp.

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