Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
ResidualDataContactControlGravTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataContactControlGravTpl< _Scalar >:
ResidualDataAbstractTpl< _Scalar >

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef pinocchio::DataTpl< Scalar > PinocchioData
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
- 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>
 ResidualDataContactControlGravTpl (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

std::shared_ptr< ActuationDataAbstractTpl< Scalar > > actuation
 Actuation data.
 
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
 External spatial forces.
 
PinocchioData 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::ResidualDataContactControlGravTpl< _Scalar >

Definition at line 149 of file contact-control-gravity.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 154 of file contact-control-gravity.hpp.

◆ Base

template<typename _Scalar >
typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 155 of file contact-control-gravity.hpp.

◆ StateMultibody

template<typename _Scalar >
typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 156 of file contact-control-gravity.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 157 of file contact-control-gravity.hpp.

◆ PinocchioData

template<typename _Scalar >
typedef pinocchio::DataTpl<Scalar> PinocchioData

Definition at line 158 of file contact-control-gravity.hpp.

Constructor & Destructor Documentation

◆ ResidualDataContactControlGravTpl()

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

Definition at line 161 of file contact-control-gravity.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 153 of file contact-control-gravity.hpp.

◆ pinocchio

template<typename _Scalar >
PinocchioData pinocchio

Pinocchio data.

Definition at line 181 of file contact-control-gravity.hpp.

◆ actuation

template<typename _Scalar >
std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation

Actuation data.

Definition at line 183 of file contact-control-gravity.hpp.

◆ fext

template<typename _Scalar >
pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > fext

External spatial forces.

Definition at line 185 of file contact-control-gravity.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: