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typedef ActuationDataAbstractTpl< Scalar > | Base |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::VectorXs | VectorXs |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef MathBase::VectorXs | VectorXs |
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| template<template< typename Scalar > class Model> |
| | ActuationDataNumDiffTpl (Model< Scalar > *const model) |
| | Initialize the numdiff actuation data. More...
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template<template< typename Scalar > class Model> |
| | ActuationDataAbstractTpl (Model< Scalar > *const model) |
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boost::shared_ptr< Base > | data_0 |
| | The data that contains the final results.
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std::vector< boost::shared_ptr< Base > > | data_u |
| | The temporary data associated with the control variation.
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std::vector< boost::shared_ptr< Base > > | data_x |
| | The temporary data associated with the state variation.
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| MatrixXs | dtau_du |
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| MatrixXs | dtau_dx |
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VectorXs | du |
| | Control disturbance.
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VectorXs | dx |
| | State disturbance.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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VectorXs | tau |
| | Generalized torques.
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Scalar | uh_jac |
| | Disturbance value used for computing \( \ell_\mathbf{u} \).
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Scalar | x_norm |
| | Norm of the state vector.
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Scalar | xh_jac |
| | Disturbance value used for computing \( \ell_\mathbf{x} \).
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| VectorXs | xp |
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| MatrixXs | dtau_du |
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| MatrixXs | dtau_dx |
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| MatrixXs | Mtau |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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VectorXs | tau |
| | Generalized torques.
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std::vector< bool > | tau_set |
| | True for joints that are actuacted.
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VectorXs | u |
| | Joint torques.
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template<typename _Scalar>
struct crocoddyl::ActuationDataNumDiffTpl< _Scalar >
Definition at line 133 of file actuation.hpp.
◆ ActuationDataNumDiffTpl()
Initialize the numdiff actuation data.
- Template Parameters
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- Parameters
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| model | is the object to compute the numerical differentiation from. |
Definition at line 148 of file actuation.hpp.
◆ xp
The integrated state from the disturbance on one DoF " \_form#87@_fakenl"
Definition at line 174 of file actuation.hpp.
◆ dtau_du
Partial derivatives of the actuation model w.r.t. the joint torque input
Definition at line 205 of file actuation-base.hpp.
◆ dtau_dx
Partial derivatives of the actuation model w.r.t. the state point
Definition at line 203 of file actuation-base.hpp.
The documentation for this struct was generated from the following files:
- /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/fwd.hpp
- /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/numdiff/actuation.hpp
Public Types inherited from ActuationDataAbstractTpl< _Scalar >
1.9.1