crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
Public Types | Public Member Functions | Public Attributes | List of all members
ResidualDataFramePlacementTpl< _Scalar > Struct Template Reference

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6s Matrix6s
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef MathBase::Vector6s Vector6s
 

Public Member Functions

template<template< typename Scalar > class Model>
 ResidualDataFramePlacementTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 

Public Attributes

Matrix6xs fJf
 Local Jacobian of the frame.
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
 
VectorXs r
 Residual vector.
 
Matrix6s rJf
 Error Jacobian of the frame.
 
pinocchio::SE3Tpl< Scalar > rMf
 Error frame placement of the frame.
 
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::ResidualDataFramePlacementTpl< _Scalar >

Definition at line 134 of file fwd.hpp.

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