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 | |
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. | |