crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ResidualDataContactCoPPositionTpl< _Scalar > Struct Template Reference

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef FrameCoPSupportTpl< Scalar > FrameCoPSupport
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef StateMultibodyTpl< Scalar > StateMultibody

Public Member Functions

template<template< typename Scalar > class Model>
 ResidualDataContactCoPPositionTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes

boost::shared_ptr< ForceDataAbstractTpl< Scalar > > contact
 Contact force.
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.
 Shared data allocated by the action model.

Detailed Description

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

Definition at line 114 of file fwd.hpp.

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