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

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix3s Matrix3s
 
typedef MathBase::Matrix3xs Matrix3xs
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef MathBase::Vector3s Vector3s
 

Public Member Functions

template<template< typename Scalar > class Model>
 ResidualDataFrameRotationTpl (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.
 
Matrix3s rJf
 Error Jacobian of the frame.
 
Matrix3s rRf
 Rotation error 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::ResidualDataFrameRotationTpl< _Scalar >

Definition at line 139 of file fwd.hpp.

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