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

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
typedef ContactModelMultipleTpl< Scalar > ContactModelMultiple
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
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>
 ResidualDataContactFrictionConeTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes

boost::shared_ptr< ForceDataAbstractTpl< Scalar > > contact
 Contact force data.
ContactType contact_type
 Type of contact (2D / 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.
 Shared data allocated by the action model.

Detailed Description

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

Definition at line 109 of file fwd.hpp.

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