crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ControlParametrizationDataPolyTwoRKTpl< _Scalar > Struct Template Reference
Inheritance diagram for ControlParametrizationDataPolyTwoRKTpl< _Scalar >:
Collaboration diagram for ControlParametrizationDataPolyTwoRKTpl< _Scalar >:

Public Types

typedef ControlParametrizationDataAbstractTpl< Scalar > Base
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::Vector3s Vector3s
- Public Types inherited from ControlParametrizationDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 ControlParametrizationDataPolyTwoRKTpl (Model< Scalar > *const model)
- Public Member Functions inherited from ControlParametrizationDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ControlParametrizationDataAbstractTpl (Model< Scalar > *const model)

Public Attributes

Vector3s c
 Polynomial coefficients of the second-order control model that depends on time.
Scalar tmp_t2
 Temporary variable to store the square of the time.
- Public Attributes inherited from ControlParametrizationDataAbstractTpl< _Scalar >
MatrixXs dw_du
 Jacobian of the differential control with respect to the parameters.
VectorXs u
 value of the control parameters
VectorXs w
 value of the differential control

Detailed Description

template<typename _Scalar>
struct crocoddyl::ControlParametrizationDataPolyTwoRKTpl< _Scalar >

Definition at line 154 of file poly-two-rk.hpp.

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