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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

std::shared_ptr< ActuationDataAbstract > actuation
 Actuation data.
 
std::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 609 of file contact-invdyn.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 613 of file contact-invdyn.hpp.

◆ Base

template<typename _Scalar >
typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 614 of file contact-invdyn.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 615 of file contact-invdyn.hpp.

◆ DataCollectorActMultibodyInContact

template<typename _Scalar >
typedef DataCollectorActMultibodyInContactTpl<Scalar> DataCollectorActMultibodyInContact

Definition at line 617 of file contact-invdyn.hpp.

◆ ActuationDataAbstract

template<typename _Scalar >
typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

Definition at line 618 of file contact-invdyn.hpp.

◆ ContactDataMultiple

template<typename _Scalar >
typedef ContactDataMultipleTpl<Scalar> ContactDataMultiple

Definition at line 619 of file contact-invdyn.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 620 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

◆ ResidualDataActuation()

template<typename _Scalar >
template<template< typename Scalar > class Model>
ResidualDataActuation ( Model< Scalar > *const  model,
DataCollectorAbstract *const  data 
)
inline

Definition at line 623 of file contact-invdyn.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 612 of file contact-invdyn.hpp.

◆ pinocchio

template<typename _Scalar >
pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 644 of file contact-invdyn.hpp.

◆ actuation

template<typename _Scalar >
std::shared_ptr<ActuationDataAbstract> actuation

Actuation data.

Definition at line 645 of file contact-invdyn.hpp.

◆ contact

template<typename _Scalar >
std::shared_ptr<ContactDataMultiple> contact

Contact data.

Definition at line 646 of file contact-invdyn.hpp.

◆ dtau_dx

template<typename _Scalar >
MatrixXs dtau_dx

Definition at line 647 of file contact-invdyn.hpp.

◆ dtau_du

template<typename _Scalar >
MatrixXs dtau_du

Definition at line 648 of file contact-invdyn.hpp.

◆ r

template<typename _Scalar >
VectorXs r

Residual vector.

Definition at line 265 of file residual-base.hpp.

◆ Ru

template<typename _Scalar >
MatrixXs Ru

Jacobian of the residual vector with respect the control.

Definition at line 267 of file residual-base.hpp.

◆ Rx

template<typename _Scalar >
MatrixXs Rx

Jacobian of the residual vector with respect the state.

Definition at line 266 of file residual-base.hpp.

◆ shared

template<typename _Scalar >
DataCollectorAbstract* shared

Shared data allocated by the action model.

Definition at line 264 of file residual-base.hpp.

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