crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ActionDataImpulseFwdDynamicsTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActionDataImpulseFwdDynamicsTpl< _Scalar >:
Collaboration diagram for ActionDataImpulseFwdDynamicsTpl< _Scalar >:

Public Types

typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ActionDataImpulseFwdDynamicsTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

boost::shared_ptr< CostDataSumTpl< Scalar > > costs
 
MatrixXs df_dx
 
MatrixXs dgrav_dq
 
MatrixXs Kinv
 
DataCollectorMultibodyInImpulseTpl< Scalar > multibody
 
pinocchio::DataTpl< Scalar > pinocchio
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs vnone
 
- Public Attributes inherited from ActionDataAbstractTpl< _Scalar >
Scalar cost
 cost value
 
MatrixXs Fu
 Jacobian of the dynamics.
 
MatrixXs Fx
 Jacobian of the dynamics.
 
VectorXs Lu
 Jacobian of the cost function.
 
MatrixXs Luu
 Hessian of the cost function.
 
VectorXs Lx
 Jacobian of the cost function.
 
MatrixXs Lxu
 Hessian of the cost function.
 
MatrixXs Lxx
 Hessian of the cost function.
 
VectorXs r
 Cost residual.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xnext
 evolution state
 

Detailed Description

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

Definition at line 199 of file impulse-fwddyn.hpp.


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