ActuationSquashingDataTpl< _Scalar > Struct Template Reference

Inheritance diagram for ActuationSquashingDataTpl< _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
std::shared_ptr< ActuationDataAbstract >	actuation
MatrixXs	dtau_du
MatrixXs	dtau_dx
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
std::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 Typedef Documentation

Base

template<typename _Scalar >

typedef ActuationDataAbstractTpl<Scalar> Base

Definition at line 96 of file actuation-squashing.hpp.

SquashingDataAbstract

template<typename _Scalar >

typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract

Definition at line 97 of file actuation-squashing.hpp.

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 98 of file actuation-squashing.hpp.

VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 99 of file actuation-squashing.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 100 of file actuation-squashing.hpp.

Constructor & Destructor Documentation

ActuationSquashingDataTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ActuationSquashingDataTpl ( Model< Scalar > *const  model )

inlineexplicit

Definition at line 103 of file actuation-squashing.hpp.

~ActuationSquashingDataTpl()

template<typename _Scalar >

~ActuationSquashingDataTpl ( )

inline

Definition at line 108 of file actuation-squashing.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 95 of file actuation-squashing.hpp.

squashing

template<typename _Scalar >

std::shared_ptr<SquashingDataAbstract> squashing

Definition at line 110 of file actuation-squashing.hpp.

actuation

template<typename _Scalar >

std::shared_ptr<ActuationDataAbstract> actuation

Definition at line 111 of file actuation-squashing.hpp.

dtau_du

template<typename _Scalar >

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

template<typename _Scalar >

MatrixXs dtau_dx

Partial derivatives of the actuation model w.r.t. the state point

Definition at line 203 of file actuation-base.hpp.

tau

template<typename _Scalar >

VectorXs tau

Generalized torques.

Definition at line 201 of file actuation-base.hpp.

tau_set

template<typename _Scalar >

std::vector<bool> tau_set

True for joints that are actuacted.

Definition at line 209 of file actuation-base.hpp.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/actuation/actuation-squashing.hpp