Template Struct DifferentialActionDataNumDiffTpl

Defined in File diff-action.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct DifferentialActionDataNumDiffTpl : public crocoddyl::DifferentialActionDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef DifferentialActionDataAbstractTpl<Scalar> Base

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

Construct a new ActionDataNumDiff object.

Template Parameters:: Model – is the type of the ActionModel.
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

MatrixXs Ru

VectorXs dx

VectorXs du

VectorXs xp

std::shared_ptr<Base> data_0

std::vector<std::shared_ptr<Base>> data_x

std::vector<std::shared_ptr<Base>> data_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 g: Inequality constraint values.

MatrixXs Gu: Jacobian of the inequality constraint w.r.t. the control \(\mathbf{u}\)

MatrixXs Gx: Jacobian of the inequality constraint w.r.t. the state \(\mathbf{x}\)

VectorXs h: Equality constraint values.

MatrixXs Hu: Jacobian of the equality constraint w.r.t the control \(\mathbf{u}\)

MatrixXs Hx: Jacobian of the equality constraint 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 u

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

VectorXs r: Cost residual.

VectorXs xout: evolution state