Template Struct IntegratedActionDataAbstractTpl

• Defined in File integ-action-base.hpp

Inheritance Relationships

Base Type

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

Derived Types

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

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

Struct Documentation

template<typename _Scalar>
struct IntegratedActionDataAbstractTpl : public crocoddyl::ActionDataAbstractTpl<_Scalar>

Subclassed by crocoddyl::IntegratedActionDataEulerTpl< _Scalar >, crocoddyl::IntegratedActionDataRKTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ActionDataAbstractTpl<Scalar> Base

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~IntegratedActionDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

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 \(\mathbf{u}\)

MatrixXs Lxx

Hessian of the cost w.r.t. the state \(\mathbf{x}\).

VectorXs r

Cost residual.

VectorXs xnext

evolution state