Template Struct ConstraintDataNumDiffTpl

Defined in File constraint.hpp

Inheritance Relationships

Base Type

public crocoddyl::ConstraintDataAbstractTpl< _Scalar > (Template Struct ConstraintDataAbstractTpl)

Struct Documentation

template<typename _Scalar> struct ConstraintDataNumDiffTpl : public crocoddyl::ConstraintDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ConstraintDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Public Functions

template<template<typename Scalar> class Model> inline explicit ConstraintDataNumDiffTpl(Model<Scalar> *const model, DataCollectorAbstract *const shared_data)

inline virtual ~ConstraintDataNumDiffTpl()

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Scalar x_norm: Norm of the state vector.

Scalar xh_jac: Disturbance value used for computing \( \ell_\mathbf{x} \).

Scalar uh_jac: Disturbance value used for computing \( \ell_\mathbf{u} \).

VectorXs dx: State disturbance.

VectorXs xp: The integrated state from the disturbance on one DoF “\iline 205 \_form#91@_fakenl”.

VectorXs du: Control disturbance.

VectorXs up: The integrated control from the disturbance on one DoF “\iline 208 \_form#99@_fakenl”.

std::shared_ptr<Base> data_0: The data at the approximation point.

std::vector<std::shared_ptr<Base>> data_x: The temporary data associated with the state variation.

std::vector<std::shared_ptr<Base>> data_u: The temporary data associated with the control variation.

MatrixXs Gu: Jacobian of the inequality constraint.

MatrixXs Gx: Jacobian of the inequality constraint.

MatrixXs Hu: Jacobian of the equality constraint.

MatrixXs Hx: Jacobian of the equality constraint.

DataCollectorAbstract *shared: Shared data.