Crocoddyl
 
Loading...
Searching...
No Matches
Public Types | Public Member Functions | Public Attributes | List of all members
ResidualDataCentroidalMomentumTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataCentroidalMomentumTpl< _Scalar >:
ResidualDataAbstractTpl< _Scalar >

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6xs Matrix6xs
 
- 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>
 ResidualDataCentroidalMomentumTpl (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

Matrix6xs dhd_dq
 Jacobian of the centroidal momentum.
 
Matrix6xs dhd_dv
 Jacobian of the centroidal momentum.
 
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::ResidualDataCentroidalMomentumTpl< _Scalar >

Definition at line 133 of file centroidal-momentum.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 138 of file centroidal-momentum.hpp.

◆ Base

template<typename _Scalar >
typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 139 of file centroidal-momentum.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 140 of file centroidal-momentum.hpp.

◆ Matrix6xs

template<typename _Scalar >
typedef MathBase::Matrix6xs Matrix6xs

Definition at line 141 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

◆ ResidualDataCentroidalMomentumTpl()

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

Definition at line 144 of file centroidal-momentum.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 137 of file centroidal-momentum.hpp.

◆ pinocchio

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

Pinocchio data.

Definition at line 165 of file centroidal-momentum.hpp.

◆ dhd_dq

template<typename _Scalar >
Matrix6xs dhd_dq

Jacobian of the centroidal momentum.

Definition at line 166 of file centroidal-momentum.hpp.

◆ dhd_dv

template<typename _Scalar >
Matrix6xs dhd_dv

Jacobian of the centroidal momentum.

Definition at line 167 of file centroidal-momentum.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 files: