Template Struct CostDataAbstractTpl

• Defined in File cost-base.hpp

Inheritance Relationships

Derived Types

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

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

Struct Documentation

template<typename _Scalar>
struct CostDataAbstractTpl

Subclassed by crocoddyl::CostDataNumDiffTpl< _Scalar >, crocoddyl::CostDataResidualTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

template<template<typename Scalar> class Model>
inline CostDataAbstractTpl(Model<Scalar> *const model, DataCollectorAbstract *const data)

virtual ~CostDataAbstractTpl() = default

DEPRECATED ("Use residual.r", const VectorXs &get_r() const { return residual->r;};) DEPRECATED("Use residual.Rx"

inline const MatrixXs &get_Rx() const

DEPRECATED ("Use residual.Ru", const MatrixXs &get_Ru() const { return residual->Ru;};) DEPRECATED("Use residual.r"

inline void set_r(const VectorXs &r)

DEPRECATED ("Use residual.Rx", void set_Rx(const MatrixXs &Rx) { residual->Rx=Rx;};) DEPRECATED("Use residual.Ru"

inline void set_Ru(const MatrixXs &Ru)

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

DataCollectorAbstract *shared

std::shared_ptr<ActivationDataAbstract> activation

std::shared_ptr<ResidualDataAbstract> residual

Scalar cost

VectorXs Lx

VectorXs Lu

MatrixXs Lxx

MatrixXs Lxu

MatrixXs Luu