ActuationDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActuationDataAbstractTpl< _Scalar >:
ActuationDataNumDiffTpl< _Scalar > ActuationSquashingDataTpl< _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
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 Data Documentation

◆ dtau_dx

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

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

MatrixXs Mtau

Torque transform from generalized torques to joint torque inputs

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

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