crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
Public Types | Public Member Functions | Public Attributes | List of all members
ResidualDataContactForceTpl< _Scalar > Struct Template Reference

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef ContactModelMultipleTpl< Scalar > ContactModelMultiple
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef pinocchio::ForceTpl< Scalar > Force
 
typedef ImpulseModelMultipleTpl< Scalar > ImpulseModelMultiple
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 

Public Member Functions

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

Public Attributes

boost::shared_ptr< ForceDataAbstractTpl< Scalar > > contact
 Contact force data.
 
ContactType contact_type
 Type of contact (3D / 6D)
 
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::ResidualDataContactForceTpl< _Scalar >

Definition at line 104 of file fwd.hpp.

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