Template Struct ActionDataUnicycleTpl
Defined in File unicycle.hpp
Inheritance Relationships
Base Type
public crocoddyl::ActionDataAbstractTpl< _Scalar >(Template Struct ActionDataAbstractTpl)
Struct Documentation
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template<typename _Scalar>
struct ActionDataUnicycleTpl : public crocoddyl::ActionDataAbstractTpl<_Scalar> -
Public Functions
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template<template<typename Scalar> class Model>
inline explicit ActionDataUnicycleTpl(Model<Scalar> *const model)
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virtual ~ActionDataUnicycleTpl() = default
Public Members
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
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Scalar cost
cost value
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MatrixXs Fu
Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).
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MatrixXs Fx
Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).
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VectorXs Lu
Jacobian of the cost w.r.t. the control \(\mathbf{u}\).
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MatrixXs Luu
Hessian of the cost w.r.t. the control \(\mathbf{u}\).
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VectorXs Lx
Jacobian of the cost w.r.t. the state \(\mathbf{x}\).
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MatrixXs Lxu
Hessian of the cost w.r.t. the state \(\mathbf{x}\) and control \(\mathbf{u}\)
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MatrixXs Lxx
Hessian of the cost w.r.t. the state \(\mathbf{x}\).
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VectorXs r
Cost residual.
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VectorXs xnext
evolution state
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template<template<typename Scalar> class Model>