CostModelContactWrenchConeTpl< _Scalar > Class Template Reference

Inheritance diagram for CostModelContactWrenchConeTpl< _Scalar >:

Collaboration diagram for CostModelContactWrenchConeTpl< _Scalar >:

Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract
typedef CostModelResidualTpl< Scalar >	Base
typedef FrameWrenchConeTpl< Scalar >	FrameWrenchCone
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixX6s	MatrixX6s
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualModelContactWrenchConeTpl< Scalar >	ResidualModelContactWrenchCone
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::VectorXs	VectorXs
Public Types inherited from CostModelResidualTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract
typedef CostModelAbstractTpl< Scalar >	Base
typedef CostDataAbstractTpl< Scalar >	CostDataAbstract
typedef CostDataResidualTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract
typedef MathBase::VectorXs	VectorXs
Public Types inherited from CostModelAbstractTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract
typedef ActivationModelQuadTpl< Scalar >	ActivationModelQuad
typedef CostDataAbstractTpl< Scalar >	CostDataAbstract
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract
typedef StateAbstractTpl< Scalar >	StateAbstract
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	CostModelContactWrenchConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameWrenchCone &fref)
	CostModelContactWrenchConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameWrenchCone &fref, const std::size_t nu)
	CostModelContactWrenchConeTpl (boost::shared_ptr< StateMultibody > state, const FrameWrenchCone &fref)
	CostModelContactWrenchConeTpl (boost::shared_ptr< StateMultibody > state, const FrameWrenchCone &fref, const std::size_t nu)
Public Member Functions inherited from CostModelResidualTpl< _Scalar >
	CostModelResidualTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the residual cost model. More...
	CostModelResidualTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the residual cost model. More...
virtual void	calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the residual cost based on state only. More...
virtual void	calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the residual cost. More...
virtual void	calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the residual cost with respect to the state only. More...
virtual void	calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the derivatives of the residual cost. More...
virtual boost::shared_ptr< CostDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the residual cost data.
virtual void	print (std::ostream &os) const
	Print relevant information of the cost-residual model. More...
Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation)
	Initialize the cost model. More...
	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the cost model. More...
	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
	Initialize the cost model. More...
	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the cost model. More...
	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr)
	Initialize the cost model. More...
	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu)
	Initialize the cost model. More...
const boost::shared_ptr< ActivationModelAbstract > &	get_activation () const
	Return the activation model.
std::size_t	get_nu () const
	Return the dimension of the control input.
template<class ReferenceType >
ReferenceType	get_reference ()
	Return the cost reference.
const boost::shared_ptr< ResidualModelAbstract > &	get_residual () const
	Return the residual model.
const boost::shared_ptr< StateAbstract > &	get_state () const
	Return the state.
template<class ReferenceType >
void	set_reference (ReferenceType ref)
	Modify the cost reference.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Public Attributes inherited from CostModelResidualTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Public Attributes inherited from CostModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Member Functions
virtual void	get_referenceImpl (const std::type_info &ti, void *pv)
	Return the cost reference.
virtual void	set_referenceImpl (const std::type_info &ti, const void *pv)
	Modify the cost reference.

Protected Attributes
boost::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.
std::size_t	nu_
	Control dimension.
boost::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.
boost::shared_ptr< StateAbstract >	state_
	State description.
VectorXs	unone_
	No control vector.
Protected Attributes inherited from CostModelResidualTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.
std::size_t	nu_
	Control dimension.
boost::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.
boost::shared_ptr< StateAbstract >	state_
	State description.
VectorXs	unone_
	No control vector.
Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.
std::size_t	nu_
	Control dimension.
boost::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.
boost::shared_ptr< StateAbstract >	state_
	State description.
VectorXs	unone_
	No control vector.

Detailed Description

template<typename _Scalar>
class crocoddyl::CostModelContactWrenchConeTpl< _Scalar >

Definition at line 26 of file contact-wrench-cone.hpp.

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

• include/crocoddyl/multibody/costs/contact-wrench-cone.hpp