From 14b2bc2c65b2a6bfe624433bf927b56aa2b448c3 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Tue, 19 Feb 2019 11:21:23 +0100
Subject: [PATCH] [action] Added documentation to the DADAbstract class
---
crocoddyl/differential_action.py | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/crocoddyl/differential_action.py b/crocoddyl/differential_action.py
index 5426fac2..a7e3712e 100644
--- a/crocoddyl/differential_action.py
+++ b/crocoddyl/differential_action.py
@@ -69,6 +69,14 @@ class DifferentialActionModelAbstract:
class DifferentialActionDataAbstract:
def __init__(self, model, costData = None):
+ """ Create common data shared between DAMs.
+
+ In crocoddyl, a DAD might use an externally defined cost data. If so,
+ you need to pass your own cost data using costData. Otherwise it will
+ be allocated here.
+ :param model: differential action model
+ :param costData: external cost data (optional)
+ """
nx,nu,ndx,nv,nout = model.nx,model.nu,model.ndx,model.nv,model.nout
# State evolution and cost data
self.cost = np.nan
--
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