nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative Struct Reference

Derivatives of DDP problem. More...

#include <DDPSolver.h>

Public Member Functions
	Derivative (int state_dim, int input_dim, int outer_dim)
	Constructor. More...

Public Attributes
StateStateDimMatrix	Fx
	First-order derivative of state equation w.r.t. state. More...
StateInputDimMatrix	Fu
	First-order derivative of state equation w.r.t. input. More...
std::vector< StateStateDimMatrix >	Fxx
	Second-order derivative of state equation w.r.t. state (tensor of rank 3) More...
std::vector< InputInputDimMatrix >	Fuu
	Second-order derivative of state equation w.r.t. input (tensor of rank 3) More...
std::vector< StateInputDimMatrix >	Fxu
	Second-order derivative of state equation w.r.t. state and input (tensor of rank 3) More...
StateDimVector	Lx
	First-order derivative of running cost w.r.t. state. More...
InputDimVector	Lu
	First-order derivative of running cost w.r.t. input. More...
StateStateDimMatrix	Lxx
	Second-order derivative of running cost w.r.t. state. More...
InputInputDimMatrix	Luu
	Second-order derivative of running cost w.r.t. input. More...
StateInputDimMatrix	Lxu
	Second-order derivative of running cost w.r.t. state and input. More...

Detailed Description

template<int StateDim, int InputDim>
struct nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative

Derivatives of DDP problem.

Definition at line 126 of file DDPSolver.h.

Constructor & Destructor Documentation

Derivative()

template<int StateDim, int InputDim>

nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Derivative ( int  state_dim, int  input_dim, int  outer_dim  )

inline

Constructor.

Parameters

state_dim	state dimension
input_dim	input dimension
outer_dim	outer dimension of tensor

Definition at line 133 of file DDPSolver.h.

Member Data Documentation

Fu

template<int StateDim, int InputDim>

StateInputDimMatrix nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Fu

First-order derivative of state equation w.r.t. input.

Definition at line 151 of file DDPSolver.h.

Fuu

template<int StateDim, int InputDim>

std::vector<InputInputDimMatrix> nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Fuu

Second-order derivative of state equation w.r.t. input (tensor of rank 3)

Definition at line 157 of file DDPSolver.h.

Fx

template<int StateDim, int InputDim>

StateStateDimMatrix nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Fx

First-order derivative of state equation w.r.t. state.

Definition at line 148 of file DDPSolver.h.

Fxu

template<int StateDim, int InputDim>

std::vector<StateInputDimMatrix> nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Fxu

Second-order derivative of state equation w.r.t. state and input (tensor of rank 3)

Definition at line 160 of file DDPSolver.h.

Fxx

template<int StateDim, int InputDim>

std::vector<StateStateDimMatrix> nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Fxx

Second-order derivative of state equation w.r.t. state (tensor of rank 3)

Definition at line 154 of file DDPSolver.h.

Lu

template<int StateDim, int InputDim>

InputDimVector nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Lu

First-order derivative of running cost w.r.t. input.

Definition at line 166 of file DDPSolver.h.

Luu

template<int StateDim, int InputDim>

InputInputDimMatrix nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Luu

Second-order derivative of running cost w.r.t. input.

Definition at line 172 of file DDPSolver.h.

Lx

template<int StateDim, int InputDim>

StateDimVector nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Lx

First-order derivative of running cost w.r.t. state.

Definition at line 163 of file DDPSolver.h.

Lxu

template<int StateDim, int InputDim>

StateInputDimMatrix nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Lxu

Second-order derivative of running cost w.r.t. state and input.

Definition at line 175 of file DDPSolver.h.

Lxx

template<int StateDim, int InputDim>

StateStateDimMatrix nmpc_ddp::DDPSolver< StateDim, InputDim >::Derivative::Lxx

Second-order derivative of running cost w.r.t. state.

Definition at line 169 of file DDPSolver.h.

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The documentation for this struct was generated from the following file:

• /home/runner/work/NMPC/NMPC/catkin_ws/src/NMPC/nmpc_ddp/include/nmpc_ddp/DDPSolver.h