crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
Public Types | Public Member Functions | Public Attributes | List of all members
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.
 
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 154 of file fwd.hpp.

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