Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
ResidualDataControlGravTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataControlGravTpl< _Scalar >:
ResidualDataAbstractTpl< _Scalar >

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef pinocchio::DataTpl< Scalar > PinocchioData
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
- 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>
 ResidualDataControlGravTpl (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< ActuationDataAbstractTpl< Scalar > > actuation
 Actuation data.
 
PinocchioData 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::ResidualDataControlGravTpl< _Scalar >

Definition at line 140 of file control-gravity.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 144 of file control-gravity.hpp.

◆ Base

template<typename _Scalar >
typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 145 of file control-gravity.hpp.

◆ StateMultibody

template<typename _Scalar >
typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 146 of file control-gravity.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 147 of file control-gravity.hpp.

◆ PinocchioData

template<typename _Scalar >
typedef pinocchio::DataTpl<Scalar> PinocchioData

Definition at line 148 of file control-gravity.hpp.

Constructor & Destructor Documentation

◆ ResidualDataControlGravTpl()

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

Definition at line 151 of file control-gravity.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 143 of file control-gravity.hpp.

◆ pinocchio

template<typename _Scalar >
PinocchioData pinocchio

Pinocchio data.

Definition at line 170 of file control-gravity.hpp.

◆ actuation

template<typename _Scalar >
std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation

Actuation data.

Definition at line 172 of file control-gravity.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.

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