Template Struct IntegratedActionDataEulerTpl

• Defined in File euler.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef IntegratedActionDataAbstractTpl<Scalar> Base

typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract

typedef ControlParametrizationDataAbstractTpl<Scalar> ControlParametrizationDataAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~IntegratedActionDataEulerTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

std::shared_ptr<DifferentialActionDataAbstract> differential

Differential model data.

std::shared_ptr<ControlParametrizationDataAbstract> control

Control parametrization data.

VectorXs dx

MatrixXs da_du

MatrixXs Lwu

Hessian of the cost function with respect to the control input (w) and control parameters (u)

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