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:

• include/crocoddyl/multibody/actions/impulse-fwddyn.hpp