ResidualDataFrameRotationTpl< _Scalar > Struct Template Reference

Inheritance diagram for ResidualDataFrameRotationTpl< _Scalar >:

Public Types
typedef ResidualDataAbstractTpl< Scalar >	Base
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3s	Matrix3s
typedef MathBase::Matrix3xs	Matrix3xs
typedef MathBase::Matrix6xs	Matrix6xs
typedef MathBase::Vector3s	Vector3s
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>
	ResidualDataFrameRotationTpl (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
Matrix6xs	fJf
	Local Jacobian of the frame.
pinocchio::DataTpl< Scalar > *	pinocchio
	Pinocchio data.
VectorXs	r
	Residual vector.
Matrix3s	rJf
	Error Jacobian of the frame.
Matrix3s	rRf
	Rotation error of the frame.
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::ResidualDataFrameRotationTpl< _Scalar >

Definition at line 159 of file frame-rotation.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 163 of file frame-rotation.hpp.

Base

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 164 of file frame-rotation.hpp.

DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 165 of file frame-rotation.hpp.

Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s Vector3s

Definition at line 166 of file frame-rotation.hpp.

Matrix3s

template<typename _Scalar >

typedef MathBase::Matrix3s Matrix3s

Definition at line 167 of file frame-rotation.hpp.

Matrix3xs

template<typename _Scalar >

typedef MathBase::Matrix3xs Matrix3xs

Definition at line 168 of file frame-rotation.hpp.

Matrix6xs

template<typename _Scalar >

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 169 of file frame-rotation.hpp.

Constructor & Destructor Documentation

ResidualDataFrameRotationTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

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

inline

Definition at line 172 of file frame-rotation.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 162 of file frame-rotation.hpp.

pinocchio

template<typename _Scalar >

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 193 of file frame-rotation.hpp.

rRf

template<typename _Scalar >

Matrix3s rRf

Rotation error of the frame.

Definition at line 194 of file frame-rotation.hpp.

rJf

template<typename _Scalar >

Matrix3s rJf

Error Jacobian of the frame.

Definition at line 195 of file frame-rotation.hpp.

fJf

template<typename _Scalar >

Matrix6xs fJf

Local Jacobian of the frame.

Definition at line 196 of file frame-rotation.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 files:

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/fwd.hpp
• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/residuals/frame-rotation.hpp