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

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 239 of file contact-force.hpp.

◆ Base

template<typename _Scalar >
typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 240 of file contact-force.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 241 of file contact-force.hpp.

◆ ContactModelMultiple

template<typename _Scalar >
typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Definition at line 242 of file contact-force.hpp.

◆ ImpulseModelMultiple

template<typename _Scalar >
typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple

Definition at line 243 of file contact-force.hpp.

◆ Force

template<typename _Scalar >
typedef pinocchio::ForceTpl<Scalar> Force

Definition at line 244 of file contact-force.hpp.

◆ StateMultibody

template<typename _Scalar >
typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 245 of file contact-force.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 246 of file contact-force.hpp.

Constructor & Destructor Documentation

◆ ResidualDataContactForceTpl()

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

Definition at line 249 of file contact-force.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 238 of file contact-force.hpp.

◆ contact

template<typename _Scalar >
std::shared_ptr<ForceDataAbstractTpl<Scalar> > contact

Contact force data.

Definition at line 346 of file contact-force.hpp.

◆ contact_type

template<typename _Scalar >
ContactType contact_type

Type of contact (3D / 6D)

Definition at line 347 of file contact-force.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: