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
MatrixXs	dtau_dx
MatrixXs	Mtau
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
VectorXs	tau
	Generalized torques.
std::vector< bool >	tau_set
	True for joints that are actuacted.
VectorXs	u
	Joint torques.

Detailed Description

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

Definition at line 177 of file actuation-base.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 181 of file actuation-base.hpp.

VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 182 of file actuation-base.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 183 of file actuation-base.hpp.

Constructor & Destructor Documentation

ActuationDataAbstractTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ActuationDataAbstractTpl ( Model< Scalar > *const  model )

inlineexplicit

Definition at line 186 of file actuation-base.hpp.

~ActuationDataAbstractTpl()

template<typename _Scalar >

virtual ~ActuationDataAbstractTpl ( )

inlinevirtual

Definition at line 199 of file actuation-base.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 180 of file actuation-base.hpp.

tau

template<typename _Scalar >

VectorXs tau

Generalized torques.

Definition at line 201 of file actuation-base.hpp.

u

template<typename _Scalar >

VectorXs u

Joint torques.

Definition at line 202 of file actuation-base.hpp.

dtau_dx

template<typename _Scalar >

MatrixXs dtau_dx

Partial derivatives of the actuation model w.r.t. the state point

Definition at line 203 of file actuation-base.hpp.

dtau_du

template<typename _Scalar >

MatrixXs dtau_du

Partial derivatives of the actuation model w.r.t. the joint torque input

Definition at line 205 of file actuation-base.hpp.

Mtau

template<typename _Scalar >

MatrixXs Mtau

Torque transform from generalized torques to joint torque inputs

Definition at line 207 of file actuation-base.hpp.

tau_set

template<typename _Scalar >

std::vector<bool> tau_set

True for joints that are actuacted.

Definition at line 209 of file actuation-base.hpp.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/actuation-base.hpp