DifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuation Struct Reference

Inheritance diagram for DifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuation:

Public Types
typedef ActuationDataAbstractTpl< Scalar >	ActuationDataAbstract
typedef ResidualDataAbstractTpl< Scalar >	Base
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef DataCollectorActMultibodyTpl< Scalar >	DataCollectorActMultibody
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
Public Types inherited from ResidualDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ResidualDataActuation (Model< Scalar > *const model, DataCollectorAbstract *const data)
Public Member Functions inherited from ResidualDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes
std::shared_ptr< ActuationDataAbstract >	actuation
	Actuation data.
MatrixXs	dtau_dx
pinocchio::DataTpl< Scalar > *	pinocchio
	Pinocchio data.
VectorXs	r
	Residual vector.
MatrixXs	Ru
	Jacobian of the residual vector with respect the control.
MatrixXs	Rx
	Jacobian of the residual vector with respect the state.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
DataCollectorAbstract *	shared
	Shared data allocated by the action model.
Public Attributes inherited from ResidualDataAbstractTpl< _Scalar >
MatrixXs	Arr_Ru
MatrixXs	Arr_Rx
VectorXs	r
	Residual vector.
MatrixXs	Ru
	Jacobian of the residual vector with respect the control.
MatrixXs	Rx
	Jacobian of the residual vector with respect the state.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
DataCollectorAbstract *	shared
	Shared data allocated by the action model.

Detailed Description

template<typename _Scalar>
struct crocoddyl::DifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuation

Definition at line 472 of file free-invdyn.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 476 of file free-invdyn.hpp.

Base

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 477 of file free-invdyn.hpp.

DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 478 of file free-invdyn.hpp.

DataCollectorActMultibody

template<typename _Scalar >

typedef DataCollectorActMultibodyTpl<Scalar> DataCollectorActMultibody

Definition at line 479 of file free-invdyn.hpp.

ActuationDataAbstract

template<typename _Scalar >

typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

Definition at line 480 of file free-invdyn.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 481 of file free-invdyn.hpp.

Constructor & Destructor Documentation

ResidualDataActuation()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ResidualDataActuation ( Model< Scalar > *const  model, DataCollectorAbstract *const  data  )

inline

Definition at line 484 of file free-invdyn.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 475 of file free-invdyn.hpp.

pinocchio

template<typename _Scalar >

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 503 of file free-invdyn.hpp.

actuation

template<typename _Scalar >

std::shared_ptr<ActuationDataAbstract> actuation

Actuation data.

Definition at line 504 of file free-invdyn.hpp.

dtau_dx

template<typename _Scalar >

MatrixXs dtau_dx

Definition at line 505 of file free-invdyn.hpp.

r

template<typename _Scalar >

VectorXs r

Residual vector.

Definition at line 277 of file residual-base.hpp.

Ru

template<typename _Scalar >

MatrixXs Ru

Jacobian of the residual vector with respect the control.

Definition at line 279 of file residual-base.hpp.

Rx

template<typename _Scalar >

MatrixXs Rx

Jacobian of the residual vector with respect the state.

Definition at line 278 of file residual-base.hpp.

shared

template<typename _Scalar >

DataCollectorAbstract* shared

Shared data allocated by the action model.

Definition at line 276 of file residual-base.hpp.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/actions/free-invdyn.hpp