Public Types
typedef ActuationModelAbstractTpl< Scalar >	ActuationModelAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	JointDataAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActuationModelAbstract > actuation, const std::size_t nu)
	Initialize a joint data structure containing generalized accelerations and joint efforts, and their derivatives. More...

Public Attributes
VectorXs	a
	Generalized joint acceleration.

MatrixXs	da_du

MatrixXs	da_dx

MatrixXs	dtau_du

MatrixXs	dtau_dx

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

VectorXs	tau
	Joint efforts.

Detailed Description

Definition at line 22 of file joint.hpp.

Constructor & Destructor Documentation

JointDataAbstractTpl	(	boost::shared_ptr< StateAbstract >	state,
		boost::shared_ptr< ActuationModelAbstract >	actuation,
		const std::size_t	nu
	)

inline

Initialize a joint data structure containing generalized accelerations and joint efforts, and their derivatives.

Parameters

Definition at line 40 of file joint.hpp.

MatrixXs dtau_dx

Partial derivatives of the joint efforts w.r.t. the state point

Definition at line 60 of file joint.hpp.

MatrixXs dtau_du

Partial derivatives of the joint efforts w.r.t. the control input

Definition at line 62 of file joint.hpp.

MatrixXs da_dx

Partial derivatives of the generalized joint accelerations w.r.t. the state point

Definition at line 64 of file joint.hpp.

MatrixXs da_du

Partial derivatives of the generalized joint accelerations w.r.t. the control input

Definition at line 66 of file joint.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/data/joint.hpp