crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
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.


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