ActuationDataNumDiffTpl< _Scalar > Struct Template Reference

Inheritance diagram for ActuationDataNumDiffTpl< _Scalar >:

Public Types
typedef ActuationDataAbstractTpl< Scalar >	Base
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ActuationDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ActuationDataNumDiffTpl (Model< Scalar > *const model)
	Initialize the numdiff actuation data.
Public Member Functions inherited from ActuationDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	ActuationDataAbstractTpl (Model< Scalar > *const model)

Public Attributes
std::shared_ptr< Base >	data_0
	The data that contains the final results.
std::vector< std::shared_ptr< Base > >	data_u
	The temporary data associated with the control variation.
std::vector< std::shared_ptr< Base > >	data_x
	The temporary data associated with the state variation.
MatrixXs	dtau_du
MatrixXs	dtau_dx
VectorXs	du
	Control disturbance.
VectorXs	dx
	State disturbance.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
VectorXs	tau
	Generalized torques.
Scalar	uh_jac
	Disturbance value used for computing \( \ell_\mathbf{u} \).
Scalar	x_norm
	Norm of the state vector.
Scalar	xh_jac
	Disturbance value used for computing \( \ell_\mathbf{x} \).
VectorXs	xp
Public Attributes inherited from ActuationDataAbstractTpl< _Scalar >
MatrixXs	dtau_du
MatrixXs	dtau_dx
MatrixXs	Mtau
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
VectorXs	tau
	Generalized torques.
std::vector< bool >	tau_set
	True for joints that are actuacted.
VectorXs	u
	Joint torques.

Detailed Description

template<typename _Scalar>
struct crocoddyl::ActuationDataNumDiffTpl< _Scalar >

Definition at line 137 of file actuation.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 141 of file actuation.hpp.

VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 142 of file actuation.hpp.

Base

template<typename _Scalar >

typedef ActuationDataAbstractTpl<Scalar> Base

Definition at line 143 of file actuation.hpp.

Constructor & Destructor Documentation

ActuationDataNumDiffTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ActuationDataNumDiffTpl ( Model< Scalar > *const  model )

inlineexplicit

Initialize the numdiff actuation data.

Template Parameters

Model

is the type of the ActuationModelAbstractTpl.

Parameters

model

is the object to compute the numerical differentiation from.

Definition at line 152 of file actuation.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 140 of file actuation.hpp.

x_norm

template<typename _Scalar >

Scalar x_norm

Norm of the state vector.

Definition at line 171 of file actuation.hpp.

xh_jac

template<typename _Scalar >

Scalar xh_jac

Disturbance value used for computing \( \ell_\mathbf{x} \).

Definition at line 173 of file actuation.hpp.

uh_jac

template<typename _Scalar >

Scalar uh_jac

Disturbance value used for computing \( \ell_\mathbf{u} \).

Definition at line 175 of file actuation.hpp.

dx

template<typename _Scalar >

VectorXs dx

State disturbance.

Definition at line 176 of file actuation.hpp.

du

template<typename _Scalar >

VectorXs du

Control disturbance.

Definition at line 177 of file actuation.hpp.

xp

template<typename _Scalar >

VectorXs xp

The integrated state from the disturbance on one DoF "\iline 179 \_form#91@_fakenl"

Definition at line 178 of file actuation.hpp.

data_0

template<typename _Scalar >

std::shared_ptr<Base> data_0

The data that contains the final results.

Definition at line 180 of file actuation.hpp.

data_x

template<typename _Scalar >

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

The temporary data associated with the state variation.

Definition at line 182 of file actuation.hpp.

data_u

template<typename _Scalar >

std::vector<std::shared_ptr<Base> > data_u

The temporary data associated with the control variation.

Definition at line 184 of file actuation.hpp.

dtau_du

template<typename _Scalar >

MatrixXs dtau_du

Partial derivatives of the actuation model w.r.t. the joint torque input

Definition at line 207 of file actuation-base.hpp.

dtau_dx

template<typename _Scalar >

MatrixXs dtau_dx

Partial derivatives of the actuation model w.r.t. the state point

Definition at line 205 of file actuation-base.hpp.

tau

template<typename _Scalar >

VectorXs tau

Generalized torques.

Definition at line 203 of file actuation-base.hpp.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/fwd.hpp
• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/numdiff/actuation.hpp