Template Struct DifferentialActionDataFreeInvDynamicsTpl

Defined in File free-invdyn.hpp

Nested Relationships

Nested Types

Struct DifferentialActionDataFreeInvDynamicsTpl::ResidualDataActuation

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct DifferentialActionDataFreeInvDynamicsTpl : public crocoddyl::DifferentialActionDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef DifferentialActionDataAbstractTpl<Scalar> Base

typedef JointDataAbstractTpl<Scalar> JointDataAbstract

typedef DataCollectorJointActMultibodyTpl<Scalar> DataCollectorJointActMultibody

typedef CostDataSumTpl<Scalar> CostDataSum

typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager

typedef MathBase::VectorXs VectorXs

Public Functions

template<template<typename Scalar> class Model> inline explicit DifferentialActionDataFreeInvDynamicsTpl(Model<Scalar> *const model)

virtual ~DifferentialActionDataFreeInvDynamicsTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

pinocchio::DataTpl<Scalar> pinocchio: Pinocchio data.

DataCollectorJointActMultibody multibody: Multibody data.

std::shared_ptr<CostDataSum> costs: Costs data.

std::shared_ptr<ConstraintDataManager> constraints: Constraints data.

VectorXs tmp_xstatic: State point used for computing the quasi-static input.

Scalar cost: cost value

MatrixXs Fu: Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).

MatrixXs Fx: Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).

VectorXs Lu: Jacobian of the cost w.r.t. the control \(\mathbf{u}\).

MatrixXs Luu: Hessian of the cost w.r.t. the control \(\mathbf{u}\).

VectorXs Lx: Jacobian 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 Lxx: Hessian of the cost w.r.t. the state \(\mathbf{x}\).

VectorXs r: Cost residual.

VectorXs xout: evolution state

struct ResidualDataActuation : public crocoddyl::ResidualDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef DataCollectorActMultibodyTpl<Scalar> DataCollectorActMultibody

typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

pinocchio::DataTpl<Scalar> *pinocchio: Pinocchio data.

std::shared_ptr<ActuationDataAbstract> actuation: Actuation data.

MatrixXs dtau_dx

VectorXs r: Residual vector.

MatrixXs Ru: Jacobian of the residual vector with respect the control.

MatrixXs Rx: Jacobian of the residual vector with respect the state.

DataCollectorAbstract *shared: Shared data allocated by the action model.