unittest/python/crocoddyl/action.py
def calcDiff(model, data, x, u=None, recalc=True):
        """ Compute the derivatives of the dynamics and cost functions.

        It computes the partial derivatives of the dynamical system and the
        cost function. If recalc == True, it first updates the state evolution
        and cost value. This function builds a quadratic approximation of the
        action model (i.e. dynamical system and cost function).
        :param model: action model
        :param data: action data
        :param x: time-discrete state vector
        :param u: time-discrete control input
        :param recalc: If true, it updates the state evolution and the cost
        value.
        :returns the next state and cost value
        """
        raise NotImplementedError("Not implemented yet.")
 Compute the derivatives of the dynamics and cost functions.

        It computes the partial derivatives of the dynamical system and the
        cost function. If recalc == True, it first updates the state evolution
        and cost value. This function builds a quadratic approximation of the
        action model (i.e. dynamical system and cost function).
        :param model: action model
        :param data: action data
        :param x: time-discrete state vector
        :param u: time-discrete control input
        :param recalc: If true, it updates the state evolution and the cost
        value.
        :returns the next state and cost value
        
Compute the derivatives of the dynamics and cost functions.
It computes the partial derivatives of the dynamical system and the
cost function. If recalc == True, it first updates the state evolution
and cost value. This function builds a quadratic approximation of the
action model .
Compute the derivatives of the dynamics and cost functions . It computes the partial derivatives of the dynamical system and the cost function . If recalc == True it first updates the state evolution and cost value . This function builds a quadratic approximation of the action model .
def calcDiff(model, data, x, u=None, recalc=True):
        raise NotImplementedError("Not implemented yet.")
def calcDiff ( model , data , x , u = None , recalc = True ) : raise NotImplementedError ( "Not implemented yet." )
Compute the derivatives of the dynamics and cost functions.
Compute the derivatives of the dynamics and cost functions .
""" Compute the derivatives of the dynamics and cost functions.

        It computes the partial derivatives of the dynamical system and the
        cost function. If recalc == True, it first updates the state evolution
        and cost value. This function builds a quadratic approximation of the
        action model (i.e. dynamical system and cost function).
        :param model: action model
        :param data: action data
        :param x: time-discrete state vector
        :param u: time-discrete control input
        :param recalc: If true, it updates the state evolution and the cost
        value.
        :returns the next state and cost value
        """
model
data
x
u
recalc