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

Public Types

typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 ActuationDataAbstractTpl (Model< Scalar > *const model)

Public Attributes

MatrixXs dtau_du
 Partial derivatives of the actuation model w.r.t. the control input.
MatrixXs dtau_dx
 Partial derivatives of the actuation model w.r.t. the state point.
VectorXs tau
 Actuation (generalized force) signal.

Detailed Description

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

Definition at line 138 of file actuation-base.hpp.

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