Template Struct DifferentialActionDataAbstractTpl

• Defined in File diff-action-base.hpp

Inheritance Relationships

Derived Types

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

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

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

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

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

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

Struct Documentation

template<typename _Scalar>
struct DifferentialActionDataAbstractTpl

Subclassed by crocoddyl::DifferentialActionDataContactFwdDynamicsTpl< _Scalar >, crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >, crocoddyl::DifferentialActionDataFreeFwdDynamicsTpl< _Scalar >, crocoddyl::DifferentialActionDataFreeInvDynamicsTpl< _Scalar >, crocoddyl::DifferentialActionDataLQRTpl< _Scalar >, crocoddyl::DifferentialActionDataNumDiffTpl< _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 DifferentialActionDataAbstractTpl(Model<Scalar> *const model)

virtual ~DifferentialActionDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Scalar cost

cost value

VectorXs xout

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 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 \(\mathbf{u}\)