crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ResidualDataImpulseCoMTpl< _Scalar > Struct Template Reference

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::Matrix3xs Matrix3xs
typedef MathBase::MatrixXs MatrixXs
typedef StateMultibodyTpl< Scalar > StateMultibody

Public Member Functions

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

Public Attributes

MatrixXs ddv_dv
 Jacobian of the CoM velocity.
Matrix3xs dvc_dq
 Jacobian of the CoM velocity.
boost::shared_ptr< crocoddyl::ImpulseDataMultipleTpl< Scalar > > impulses
 Impulses data.
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
pinocchio::DataTpl< Scalar > pinocchio_internal
 Pinocchio data for internal computation.
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.
 Shared data allocated by the action model.

Detailed Description

template<typename _Scalar>
struct crocoddyl::ResidualDataImpulseCoMTpl< _Scalar >

Definition at line 154 of file fwd.hpp.

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