Template Struct ActionDataAbstractTpl

• Defined in File action-base.hpp

Inheritance Relationships

Derived Types

• public crocoddyl::ActionDataImpulseFwdDynamicsTpl< _Scalar > (Template Struct ActionDataImpulseFwdDynamicsTpl)

• public crocoddyl::ActionDataLQRTpl< _Scalar > (Template Struct ActionDataLQRTpl)

• public crocoddyl::ActionDataNumDiffTpl< _Scalar > (Template Struct ActionDataNumDiffTpl)

• public crocoddyl::ActionDataUnicycleTpl< _Scalar > (Template Struct ActionDataUnicycleTpl)

• public crocoddyl::IntegratedActionDataAbstractTpl< _Scalar > (Template Struct IntegratedActionDataAbstractTpl)

Struct Documentation

template<typename _Scalar>
struct ActionDataAbstractTpl

Subclassed by crocoddyl::ActionDataImpulseFwdDynamicsTpl< _Scalar >, crocoddyl::ActionDataLQRTpl< _Scalar >, crocoddyl::ActionDataNumDiffTpl< _Scalar >, crocoddyl::ActionDataUnicycleTpl< _Scalar >, crocoddyl::IntegratedActionDataAbstractTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

template<template<typename Scalar> class Model>
inline explicit ActionDataAbstractTpl(Model<Scalar> *const model)

virtual ~ActionDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Scalar cost

cost value

VectorXs xnext

evolution state

MatrixXs Fx

Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).

MatrixXs Fu

Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).

VectorXs r

Cost residual.

VectorXs Lx

Jacobian of the cost w.r.t. the state \(\mathbf{x}\).

VectorXs Lu

Jacobian of the cost w.r.t. the control \(\mathbf{u}\).

MatrixXs Lxx

Hessian of the cost w.r.t. the state \(\mathbf{x}\).

MatrixXs Lxu

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

MatrixXs Luu

Hessian of the cost w.r.t. the control \(\mathbf{u}\).

VectorXs g

Inequality constraint values.

MatrixXs Gx

Jacobian of the inequality constraint w.r.t. the state \(\mathbf{x}\)

MatrixXs Gu

Jacobian of the inequality constraint w.r.t. the control \(\mathbf{u}\)

VectorXs h

Equality constraint values.

MatrixXs Hx

Jacobian of the equality constraint w.r.t. the state \(\mathbf{x}\)

MatrixXs Hu

Jacobian of the equality constraint w.r.t. the control \(\mathbf{u}\)