DifferentialActionDataContactFwdDynamicsTpl< _Scalar > Struct Template Reference

Inheritance diagram for DifferentialActionDataContactFwdDynamicsTpl< _Scalar >:

Collaboration diagram for DifferentialActionDataContactFwdDynamicsTpl< _Scalar >:

Public Types
typedef DifferentialActionDataAbstractTpl< Scalar >	Base
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs
Public Types inherited from DifferentialActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	DifferentialActionDataContactFwdDynamicsTpl (Model< Scalar > *const model)
Public Member Functions inherited from DifferentialActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	DifferentialActionDataAbstractTpl (Model< Scalar > *const model)

Public Attributes
Scalar	cost
	cost value
boost::shared_ptr< CostDataSumTpl< Scalar > >	costs
MatrixXs	df_du
MatrixXs	df_dx
MatrixXs	Fu
	Jacobian of the dynamics.
MatrixXs	Fx
	Jacobian of the dynamics.
MatrixXs	Kinv
VectorXs	Lu
	Jacobian of the cost function.
MatrixXs	Luu
	Hessian of the cost function.
VectorXs	Lx
	Jacobian of the cost function.
MatrixXs	Lxu
	Hessian of the cost function.
MatrixXs	Lxx
	Hessian of the cost function.
DataCollectorActMultibodyInContactTpl< Scalar >	multibody
pinocchio::DataTpl< Scalar >	pinocchio
VectorXs	r
	Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
MatrixXs	tmp_Jstatic
VectorXs	tmp_xstatic
VectorXs	xout
	evolution state
Public Attributes inherited from DifferentialActionDataAbstractTpl< _Scalar >
Scalar	cost
	cost value
MatrixXs	Fu
	Jacobian of the dynamics.
MatrixXs	Fx
	Jacobian of the dynamics.
VectorXs	Lu
	Jacobian of the cost function.
MatrixXs	Luu
	Hessian of the cost function.
VectorXs	Lx
	Jacobian of the cost function.
MatrixXs	Lxu
	Hessian of the cost function.
MatrixXs	Lxx
	Hessian of the cost function.
VectorXs	r
	Cost residual.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
VectorXs	xout
	evolution state

Detailed Description

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

Definition at line 226 of file contact-fwddyn.hpp.

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

• include/crocoddyl/multibody/actions/contact-fwddyn.hpp