Crocoddyl
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SquashingModelAbstractTpl< _Scalar > Class Template Referenceabstract
Inheritance diagram for SquashingModelAbstractTpl< _Scalar >:
SquashingModelBase SquashingModelSmoothSatTpl< _Scalar >

Public Types

typedef MathBaseTpl< Scalar > MathBase
 
typedef SquashingDataAbstractTpl< Scalar > SquashingDataAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 SquashingModelAbstractTpl (const std::size_t ns)
 
virtual void calc (const std::shared_ptr< SquashingDataAbstract > &data, const Eigen::Ref< const VectorXs > &s)=0
 
virtual void calcDiff (const std::shared_ptr< SquashingDataAbstract > &data, const Eigen::Ref< const VectorXs > &s)=0
 
virtual std::shared_ptr< SquashingDataAbstract > createData ()
 
std::size_t get_ns () const
 
const VectorXs & get_s_lb () const
 
const VectorXs & get_s_ub () const
 
virtual void print (std::ostream &os) const
 Print relevant information of the squashing model. More...
 
void set_s_lb (const VectorXs &s_lb)
 
void set_s_ub (const VectorXs &s_ub)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

std::size_t ns_
 
VectorXs s_lb_
 
VectorXs s_ub_
 
VectorXs u_lb_
 
VectorXs u_ub_
 

Friends

template<class Scalar >
std::ostream & operator<< (std::ostream &os, const SquashingModelAbstractTpl< Scalar > &model)
 Print information on the actuation model.
 

Detailed Description

template<typename _Scalar>
class crocoddyl::SquashingModelAbstractTpl< _Scalar >

Definition at line 25 of file squashing-base.hpp.

Member Function Documentation

◆ print()

virtual void print ( std::ostream &  os) const
inlinevirtual

Print relevant information of the squashing model.

Parameters
[out]osOutput stream object

Definition at line 62 of file squashing-base.hpp.

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