ResidualDataFramePlacementTpl< _Scalar > Struct Template Reference

Inheritance diagram for ResidualDataFramePlacementTpl< _Scalar >:

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 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>
	ResidualDataFramePlacementTpl (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
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.
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::ResidualDataFramePlacementTpl< _Scalar >

Definition at line 150 of file frame-placement.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 154 of file frame-placement.hpp.

Base

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 155 of file frame-placement.hpp.

DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 156 of file frame-placement.hpp.

Matrix6xs

template<typename _Scalar >

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 157 of file frame-placement.hpp.

Matrix6s

template<typename _Scalar >

typedef MathBase::Matrix6s Matrix6s

Definition at line 158 of file frame-placement.hpp.

Vector6s

template<typename _Scalar >

typedef MathBase::Vector6s Vector6s

Definition at line 159 of file frame-placement.hpp.

Constructor & Destructor Documentation

ResidualDataFramePlacementTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

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

inline

Definition at line 162 of file frame-placement.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 153 of file frame-placement.hpp.

pinocchio

template<typename _Scalar >

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 181 of file frame-placement.hpp.

rMf

template<typename _Scalar >

pinocchio::SE3Tpl<Scalar> rMf

Error frame placement of the frame.

Definition at line 182 of file frame-placement.hpp.

rJf

template<typename _Scalar >

Matrix6s rJf

Error Jacobian of the frame.

Definition at line 183 of file frame-placement.hpp.

fJf

template<typename _Scalar >

Matrix6xs fJf

Local Jacobian of the frame.

Definition at line 184 of file frame-placement.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.

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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/frame-placement.hpp