Crocoddyl
Public Types | Public Member Functions | Public Attributes | List of all members
ActuationSquashingDataTpl< _Scalar > Struct Template Reference
Inheritance diagram for ActuationSquashingDataTpl< _Scalar >:
ActuationDataAbstractTpl< _Scalar >

Public Types

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

Public Attributes

boost::shared_ptr< ActuationDataAbstract > actuation
 
MatrixXs dtau_du
 
MatrixXs dtau_dx
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
boost::shared_ptr< SquashingDataAbstract > squashing
 
VectorXs tau
 Generalized torques.
 
std::vector< bool > tau_set
 True for joints that are actuacted.
 
- 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::ActuationSquashingDataTpl< _Scalar >

Definition at line 92 of file actuation-squashing.hpp.

Member Data Documentation

◆ 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 file: