Template Struct ResidualDataNumDiffTpl

Defined in File residual.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ResidualDataNumDiffTpl : public crocoddyl::ResidualDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Public Functions

template<template<typename Scalar> class Model> inline explicit ResidualDataNumDiffTpl(Model<Scalar> *const model, DataCollectorAbstract *const shared_data)

Initialize the numdiff residual data.

Template Parameters:: Model – is the type of the ResidualModelAbstractTpl.
Parameters:: model – is the object to compute the numerical differentiation from.

inline virtual ~ResidualDataNumDiffTpl()

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Scalar x_norm: Norm of the state vector.

Scalar xh_jac: Disturbance value used for computing \( \ell_\mathbf{x} \).

Scalar uh_jac: Disturbance value used for computing \( \ell_\mathbf{u} \).

VectorXs dx: State disturbance.

VectorXs xp: The integrated state from the disturbance on one DoF “\iline 204 \_form#91@_fakenl”.

VectorXs du: Control disturbance.

VectorXs up: The integrated control from the disturbance on one DoF “\iline 207 \_form#99@_fakenl”.

std::shared_ptr<Base> data_0: The data at the approximation point.

std::vector<std::shared_ptr<Base>> data_x: The temporary data associated with the state variation.

std::vector<std::shared_ptr<Base>> data_u: The temporary data associated with the control variation.

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.