Crocoddyl
ResidualDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataAbstractTpl< _Scalar >:
DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataContact DifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuation ResidualDataCentroidalMomentumTpl< _Scalar > ResidualDataCoMPositionTpl< _Scalar > ResidualDataContactCoPPositionTpl< _Scalar > ResidualDataContactControlGravTpl< _Scalar > ResidualDataContactForceTpl< _Scalar > ResidualDataContactFrictionConeTpl< _Scalar > ResidualDataContactWrenchConeTpl< _Scalar > ResidualDataControlGravTpl< _Scalar > ResidualDataFramePlacementTpl< _Scalar > ResidualDataFrameRotationTpl< _Scalar > ResidualDataFrameTranslationTpl< _Scalar > ResidualDataFrameVelocityTpl< _Scalar > ResidualDataImpulseCoMTpl< _Scalar > ResidualDataJointAccelerationTpl< _Scalar > ResidualDataJointEffortTpl< _Scalar > ResidualDataNumDiffTpl< _Scalar >

Public Types

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>
 ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 

Public Attributes

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
 
DataCollectorAbstractshared
 Shared data allocated by the action model.
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ResidualDataAbstractTpl< _Scalar >

Definition at line 238 of file residual-base.hpp.


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