Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
ResidualDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataAbstractTpl< _Scalar >:
DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataContact DifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuation ResidualDataCentroidalMomentumTpl< _Scalar > ResidualDataCoMPositionTpl< _Scalar > ResidualDataContactCoPPositionTpl< _Scalar > ResidualDataContactControlGravTpl< _Scalar > ResidualDataContactForceTpl< _Scalar > ResidualDataContactFrictionConeTpl< _Scalar > ResidualDataContactWrenchConeTpl< _Scalar > ResidualDataControlGravTpl< _Scalar > ResidualDataFramePlacementTpl< _Scalar > ResidualDataFrameRotationTpl< _Scalar > ResidualDataFrameTranslationTpl< _Scalar > ResidualDataFrameVelocityTpl< _Scalar > ResidualDataImpulseCoMTpl< _Scalar > ResidualDataJointAccelerationTpl< _Scalar > ResidualDataJointEffortTpl< _Scalar > ResidualDataNumDiffTpl< _Scalar >

Public Types

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

Public Attributes

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::ResidualDataAbstractTpl< _Scalar >

Definition at line 250 of file residual-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 254 of file residual-base.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 255 of file residual-base.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 256 of file residual-base.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 257 of file residual-base.hpp.

Constructor & Destructor Documentation

◆ ResidualDataAbstractTpl()

template<typename _Scalar >
template<template< typename Scalar > class Model>
ResidualDataAbstractTpl ( Model< Scalar > *const  model,
DataCollectorAbstract *const  data 
)
inline

Definition at line 260 of file residual-base.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 253 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.

◆ r

template<typename _Scalar >
VectorXs r

Residual vector.

Definition at line 277 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.

◆ Ru

template<typename _Scalar >
MatrixXs Ru

Jacobian of the residual vector with respect the control.

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

◆ Arr_Rx

template<typename _Scalar >
MatrixXs Arr_Rx

Definition at line 280 of file residual-base.hpp.

◆ Arr_Ru

template<typename _Scalar >
MatrixXs Arr_Ru

Definition at line 281 of file residual-base.hpp.

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