Template Struct IntegratedActionDataRKTpl

Defined in File rk.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct IntegratedActionDataRKTpl : 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 IntegratedActionDataRKTpl(Model<Scalar> *const model)

virtual ~IntegratedActionDataRKTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

std::vector<std::shared_ptr<DifferentialActionDataAbstract>> differential: List of differential model data.

std::vector<std::shared_ptr<ControlParametrizationDataAbstract>> control: List of control parametrization data.

std::vector<Scalar> integral

VectorXs dx: State rate.

std::vector<VectorXs> ki: List of RK terms related to system dynamics.

std::vector<VectorXs> y: List of states where f is evaluated in the RK integration.

std::vector<VectorXs> ws: Control inputs evaluated in the RK integration.

std::vector<VectorXs> dx_rk

std::vector<MatrixXs> dki_dx: List of partial derivatives of RK nodes with respect to the state of the RK integration. dki/dx

std::vector<MatrixXs> dki_du: List of partial derivatives of RK nodes with respect to the control parameters of the RK integration. dki/du

std::vector<MatrixXs> dyi_dx: List of partial derivatives of RK dynamics with respect to the state of the RK integrator. dyi/dx

std::vector<MatrixXs> dyi_du: List of partial derivatives of RK dynamics with respect to the control parameters of the RK integrator. dyi/du

std::vector<VectorXs> dli_dx: List of partial derivatives of the cost with respect to the state of the RK integration. dli_dx

std::vector<VectorXs> dli_du: List of partial derivatives of the cost with respect to the control input of the RK integration. dli_du

std::vector<MatrixXs> ddli_ddx: List of second partial derivatives of the cost with respect to the state of the RK integration. ddli_ddx

std::vector<MatrixXs> ddli_ddw: List of second partial derivatives of the cost with respect to the control parameters of the RK integration. ddli_ddw

std::vector<MatrixXs> ddli_ddu: List of second partial derivatives of the cost with respect to the control input of the RK integration. ddli_ddu

std::vector<MatrixXs> ddli_dxdw: List of second partial derivatives of the cost with respect to the state and control input of the RK integration. ddli_dxdw

std::vector<MatrixXs> ddli_dxdu: List of second partial derivatives of the cost with respect to the state and control parameters of the RK integration. ddli_dxdu

std::vector<MatrixXs> ddli_dwdu: List of second partial derivatives of the cost with respect to the control parameters and inputs control of the RK integration. ddli_dwdu

std::vector<MatrixXs> Luu_partialx

std::vector<MatrixXs> Lxu_i

std::vector<MatrixXs> Lxx_partialx

std::vector<MatrixXs> Lxx_partialu

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