Crocoddyl
ActuationDataNumDiffTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActuationDataNumDiffTpl< _Scalar >:
ActuationDataAbstractTpl< _Scalar >

Public Types

typedef ActuationDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActuationDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
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 Member Functions inherited from ActuationDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActuationDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

boost::shared_ptr< Basedata_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
 
MatrixXs dtau_dx
 
VectorXs du
 Control disturbance.
 
VectorXs dx
 State disturbance.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs tau
 Generalized torques.
 
Scalar uh_jac
 Disturbance value used for computing \( \ell_\mathbf{u} \).
 
Scalar x_norm
 Norm of the state vector.
 
Scalar xh_jac
 Disturbance value used for computing \( \ell_\mathbf{x} \).
 
VectorXs xp
 
- Public Attributes inherited from ActuationDataAbstractTpl< _Scalar >
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::ActuationDataNumDiffTpl< _Scalar >

Definition at line 126 of file actuation.hpp.

Constructor & Destructor Documentation

◆ ActuationDataNumDiffTpl()

ActuationDataNumDiffTpl ( Model< Scalar > *const  model)
inlineexplicit

Initialize the numdiff actuation data.

Template Parameters
Modelis the type of the ActuationModelAbstractTpl.
Parameters
modelis the object to compute the numerical differentiation from.

Definition at line 141 of file actuation.hpp.

Member Data Documentation

◆ xp

VectorXs xp

The integrated state from the disturbance on one DoF " \_form#87@_fakenl"

Definition at line 167 of file actuation.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.

◆ 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.


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