Template Struct ActionDataNumDiffTpl

Defined in File action.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ActionDataNumDiffTpl : public crocoddyl::ActionDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ActionDataAbstractTpl<Scalar> Base

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

typedef MathBaseTpl<Scalar>::MatrixXs MatrixXs

Public Functions

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

Initialize the numdiff action data.

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

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 \( \ell_\mathbf{u} \).

Scalar xh_hess: Disturbance value used for computing \( < \ell_\mathbf{xx} \)

Scalar uh_hess: Disturbance value used for computing \( < \ell_\mathbf{uu} \)

Scalar xh_hess_pow2

Scalar uh_hess_pow2

Scalar xuh_hess_pow2

MatrixXs Rx: Cost residual jacobian: \( \frac{d r(x,u)}{dx} \).

MatrixXs Ru: Cost residual jacobian: \( \frac{d r(x,u)}{du} \).

VectorXs dx: State disturbance.

VectorXs du: Control disturbance.

VectorXs xp: The integrated state from the disturbance on one DoF “\iline 255 \_form#91@_fakenl”

std::shared_ptr<Base> data_0: The data that contains the final results.

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.

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