Template Struct DifferentialActionDataLQRTpl

Defined in File diff-lqr.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef _Scalar Scalar

typedef MathBaseTpl<Scalar> MathBase

typedef DifferentialActionDataAbstractTpl<Scalar> Base

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~DifferentialActionDataLQRTpl() = default

Public Members

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 \(\mathbf{x}\).

MatrixXs Gu: Jacobian of the inequality constraint w.r.t. the control \(\mathbf{u}\)

MatrixXs Gx: Jacobian of the inequality constraint w.r.t. the state \(\mathbf{x}\)

MatrixXs Hu: Jacobian of the equality constraint w.r.t the control \(\mathbf{u}\)

MatrixXs Hx: Jacobian of the equality constraint 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