Crocoddyl
Public Types | Public Member Functions | Public Attributes | List of all members
DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation Struct Reference
Inheritance diagram for DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation:
ResidualDataAbstractTpl< _Scalar >

Public Types

typedef ActuationDataAbstractTpl< Scalar > ActuationDataAbstract
 
typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef ContactDataMultipleTpl< Scalar > ContactDataMultiple
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef DataCollectorActMultibodyInContactTpl< Scalar > DataCollectorActMultibodyInContact
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
- Public Types inherited from ResidualDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ResidualDataActuation (Model< Scalar > *const model, DataCollectorAbstract *const data)
 
- Public Member Functions inherited from ResidualDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 

Public Attributes

boost::shared_ptr< ActuationDataAbstract > actuation
 Actuation data.
 
boost::shared_ptr< ContactDataMultiple > contact
 Contact data.
 
MatrixXs dtau_du
 
MatrixXs dtau_dx
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
 
VectorXs r
 Residual vector.
 
MatrixXs Ru
 Jacobian of the residual vector with respect the control.
 
MatrixXs Rx
 Jacobian of the residual vector with respect the state.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstract * shared
 Shared data allocated by the action model.
 
- Public Attributes inherited from ResidualDataAbstractTpl< _Scalar >
MatrixXs Arr_Ru
 
MatrixXs Arr_Rx
 
VectorXs r
 Residual vector.
 
MatrixXs Ru
 Jacobian of the residual vector with respect the control.
 
MatrixXs Rx
 Jacobian of the residual vector with respect the state.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstract * shared
 Shared data allocated by the action model.
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation

Definition at line 600 of file contact-invdyn.hpp.

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