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> | |
ResidualDataContactWrenchConeTpl (Model< Scalar > *const model, DataCollectorAbstract *const data) | |
Public Attributes | |
boost::shared_ptr< ForceDataAbstractTpl< Scalar > > | contact |
Contact force data. | |
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. | |