Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
JointDataAbstractTpl< _Scalar > Struct Template Reference

Public Types

typedef ActuationModelAbstractTpl< Scalar > ActuationModelAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 JointDataAbstractTpl (std::shared_ptr< StateAbstract > state, std::shared_ptr< ActuationModelAbstract > actuation, const std::size_t nu)
 Initialize a joint data structure containing generalized accelerations and joint efforts, and their derivatives.
 

Public Attributes

VectorXs a
 Generalized joint acceleration.
 
MatrixXs da_du
 
MatrixXs da_dx
 
MatrixXs dtau_du
 
MatrixXs dtau_dx
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs tau
 Joint efforts.
 

Detailed Description

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

Definition at line 20 of file joint.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 24 of file joint.hpp.

◆ StateAbstract

template<typename _Scalar >
typedef StateAbstractTpl<Scalar> StateAbstract

Definition at line 25 of file joint.hpp.

◆ ActuationModelAbstract

template<typename _Scalar >
typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract

Definition at line 26 of file joint.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 27 of file joint.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 28 of file joint.hpp.

Constructor & Destructor Documentation

◆ JointDataAbstractTpl()

template<typename _Scalar >
JointDataAbstractTpl ( std::shared_ptr< StateAbstract >  state,
std::shared_ptr< ActuationModelAbstract >  actuation,
const std::size_t  nu 
)
inline

Initialize a joint data structure containing generalized accelerations and joint efforts, and their derivatives.

Parameters
stateState description
actuationActuation model
nuDimension of control input

Definition at line 38 of file joint.hpp.

◆ ~JointDataAbstractTpl()

template<typename _Scalar >
virtual ~JointDataAbstractTpl ( )
inlinevirtual

Definition at line 54 of file joint.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 23 of file joint.hpp.

◆ tau

template<typename _Scalar >
VectorXs tau

Joint efforts.

Definition at line 56 of file joint.hpp.

◆ a

template<typename _Scalar >
VectorXs a

Generalized joint acceleration.

Definition at line 57 of file joint.hpp.

◆ dtau_dx

template<typename _Scalar >
MatrixXs dtau_dx

Partial derivatives of the joint efforts w.r.t. the state point

Definition at line 58 of file joint.hpp.

◆ dtau_du

template<typename _Scalar >
MatrixXs dtau_du

Partial derivatives of the joint efforts w.r.t. the control input

Definition at line 60 of file joint.hpp.

◆ da_dx

template<typename _Scalar >
MatrixXs da_dx

Partial derivatives of the generalized joint accelerations w.r.t. the state point

Definition at line 62 of file joint.hpp.

◆ da_du

template<typename _Scalar >
MatrixXs da_du

Partial derivatives of the generalized joint accelerations w.r.t. the control input

Definition at line 64 of file joint.hpp.

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