ResidualDataContactForceTpl< _Scalar > Struct Template Reference

Inheritance diagram for ResidualDataContactForceTpl< _Scalar >:

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 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>
	ResidualDataContactForceTpl (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< 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.
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::ResidualDataContactForceTpl< _Scalar >

Definition at line 235 of file contact-force.hpp.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/fwd.hpp
• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/residuals/contact-force.hpp