Template Struct ControlParametrizationDataAbstractTpl

• Defined in File control-base.hpp

Inheritance Relationships

Derived Types

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

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

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

Struct Documentation

template<typename _Scalar>
struct ControlParametrizationDataAbstractTpl

Subclassed by crocoddyl::ControlParametrizationDataNumDiffTpl< _Scalar >, crocoddyl::ControlParametrizationDataPolyOneTpl< _Scalar >, crocoddyl::ControlParametrizationDataPolyTwoRKTpl< _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 ControlParametrizationDataAbstractTpl(Model<Scalar> *const model)

virtual ~ControlParametrizationDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

VectorXs w

value of the differential control

VectorXs u

value of the control parameters

MatrixXs dw_du

Jacobian of the differential control with respect to the parameters