ResidualDataContactFrictionConeTpl< _Scalar > Struct Template Reference

Inheritance diagram for ResidualDataContactFrictionConeTpl< _Scalar >:

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 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>
	ResidualDataContactFrictionConeTpl (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 (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.
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::ResidualDataContactFrictionConeTpl< _Scalar >

Definition at line 221 of file contact-friction-cone.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 226 of file contact-friction-cone.hpp.

Base

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 227 of file contact-friction-cone.hpp.

DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 228 of file contact-friction-cone.hpp.

ContactModelMultiple

template<typename _Scalar >

typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Definition at line 229 of file contact-friction-cone.hpp.

ImpulseModelMultiple

template<typename _Scalar >

typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple

Definition at line 230 of file contact-friction-cone.hpp.

StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 231 of file contact-friction-cone.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 232 of file contact-friction-cone.hpp.

Constructor & Destructor Documentation

ResidualDataContactFrictionConeTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ResidualDataContactFrictionConeTpl ( Model< Scalar > *const  model, DataCollectorAbstract *const  data  )

inline

Definition at line 235 of file contact-friction-cone.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 225 of file contact-friction-cone.hpp.

contact

template<typename _Scalar >

std::shared_ptr<ForceDataAbstractTpl<Scalar> > contact

Contact force data.

Definition at line 330 of file contact-friction-cone.hpp.

contact_type

template<typename _Scalar >

ContactType contact_type

Type of contact (2D / 3D / 6D)

Definition at line 331 of file contact-friction-cone.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:

• /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-friction-cone.hpp