ResidualDataImpulseCoMTpl< _Scalar > Struct Template Reference

Inheritance diagram for ResidualDataImpulseCoMTpl< _Scalar >:

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 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>
	ResidualDataImpulseCoMTpl (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
MatrixXs	ddv_dv
	Jacobian of the CoM velocity.
Matrix3xs	dvc_dq
	Jacobian of the CoM velocity.
std::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.
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::ResidualDataImpulseCoMTpl< _Scalar >

Definition at line 105 of file impulse-com.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 109 of file impulse-com.hpp.

Base

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 110 of file impulse-com.hpp.

DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 111 of file impulse-com.hpp.

StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 112 of file impulse-com.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 113 of file impulse-com.hpp.

Matrix3xs

template<typename _Scalar >

typedef MathBase::Matrix3xs Matrix3xs

Definition at line 114 of file impulse-com.hpp.

Constructor & Destructor Documentation

ResidualDataImpulseCoMTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

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

inline

Definition at line 117 of file impulse-com.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 108 of file impulse-com.hpp.

pinocchio

template<typename _Scalar >

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 140 of file impulse-com.hpp.

impulses

template<typename _Scalar >

std::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> > impulses

Impulses data.

Definition at line 142 of file impulse-com.hpp.

dvc_dq

template<typename _Scalar >

Matrix3xs dvc_dq

Jacobian of the CoM velocity.

Definition at line 143 of file impulse-com.hpp.

ddv_dv

template<typename _Scalar >

MatrixXs ddv_dv

Jacobian of the CoM velocity.

Definition at line 144 of file impulse-com.hpp.

pinocchio_internal

template<typename _Scalar >

pinocchio::DataTpl<Scalar> pinocchio_internal

Pinocchio data for internal computation.

Definition at line 146 of file impulse-com.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/impulse-com.hpp