Public Types
typedef ActuationDataAbstractTpl< Scalar >	Base

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ActuationDataNumDiffTpl (Model< Scalar > *const model)
	Initialize the numdiff actuation data. More...

Public Attributes
boost::shared_ptr< Base >	data_0
	The data that contains the final results.

std::vector< boost::shared_ptr< Base > >	data_u
	The temporary data associated with the control variation.

std::vector< boost::shared_ptr< Base > >	data_x
	The temporary data associated with the state variation.

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	du
	Control disturbance.

VectorXs	dx
	State disturbance.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

VectorXs	tau
	Actuation (generalized force) signal.

VectorXs	xp
	The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".

Detailed Description

Definition at line 245 of file fwd.hpp.

Constructor & Destructor Documentation

ActuationDataNumDiffTpl ( Model< Scalar > *const model )

inlineexplicit

Initialize the numdiff actuation data.

Template Parameters

Model is the type of the ActuationModelAbstractTpl.

Parameters

model is the object to compute the numerical differentiation from.

Definition at line 121 of file actuation.hpp.

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