DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataContact Struct Reference

Inheritance diagram for DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataContact:

Public Types
typedef ResidualDataAbstractTpl< Scalar >	Base
typedef ContactModelMultipleTpl< Scalar >	ContactModelMultiple
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef DataCollectorMultibodyInContactTpl< Scalar >	DataCollectorMultibodyInContact
typedef MathBaseTpl< Scalar >	MathBase
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>
	ResidualDataContact (Model< Scalar > *const model, DataCollectorAbstract *const data, const std::size_t id)
Public Member Functions inherited from ResidualDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes
ContactDataAbstractTpl< Scalar > *	contact
	Contact force 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 >::ResidualDataContact

Definition at line 655 of file contact-invdyn.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 659 of file contact-invdyn.hpp.

Base

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 660 of file contact-invdyn.hpp.

DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 661 of file contact-invdyn.hpp.

DataCollectorMultibodyInContact

template<typename _Scalar >

typedef DataCollectorMultibodyInContactTpl<Scalar> DataCollectorMultibodyInContact

Definition at line 663 of file contact-invdyn.hpp.

ContactModelMultiple

template<typename _Scalar >

typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Definition at line 664 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

ResidualDataContact()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ResidualDataContact ( Model< Scalar > *const  model, DataCollectorAbstract *const  data, const std::size_t  id  )

inline

Definition at line 667 of file contact-invdyn.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 658 of file contact-invdyn.hpp.

contact

template<typename _Scalar >

ContactDataAbstractTpl<Scalar>* contact

Contact force data.

Definition at line 689 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.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/actions/contact-invdyn.hpp