crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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ResidualDataContactControlGravTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataContactControlGravTpl< _Scalar >:
Collaboration diagram for ResidualDataContactControlGravTpl< _Scalar >:

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef pinocchio::DataTpl< Scalar > PinocchioData
 
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>
 ResidualDataContactControlGravTpl (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

boost::shared_ptr< ActuationDataAbstractTpl< Scalar > > actuation
 Actuation data. More...
 
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
 External spatial forces. More...
 
PinocchioData pinocchio
 Pinocchio data. More...
 
VectorXs r
 Residual vector. More...
 
MatrixXs Ru
 Jacobian of the residual vector with respect the control. More...
 
MatrixXs Rx
 Jacobian of the residual vector with respect the state. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 Shared data allocated by the action model. More...
 
- Public Attributes inherited from ResidualDataAbstractTpl< _Scalar >
VectorXs r
 Residual vector. More...
 
MatrixXs Ru
 Jacobian of the residual vector with respect the control. More...
 
MatrixXs Rx
 Jacobian of the residual vector with respect the state. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 Shared data allocated by the action model. More...
 

Detailed Description

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

Definition at line 133 of file contact-control-gravity.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 137 of file contact-control-gravity.hpp.

◆ Base

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 138 of file contact-control-gravity.hpp.

◆ StateMultibody

Definition at line 139 of file contact-control-gravity.hpp.

◆ DataCollectorAbstract

◆ PinocchioData

typedef pinocchio::DataTpl<Scalar> PinocchioData

Definition at line 141 of file contact-control-gravity.hpp.

Constructor & Destructor Documentation

◆ ResidualDataContactControlGravTpl()

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

Definition at line 144 of file contact-control-gravity.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 136 of file contact-control-gravity.hpp.

◆ pinocchio

PinocchioData pinocchio

Pinocchio data.

Definition at line 163 of file contact-control-gravity.hpp.

◆ actuation

boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation

Actuation data.

Definition at line 164 of file contact-control-gravity.hpp.

◆ fext

pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > fext

External spatial forces.

Definition at line 165 of file contact-control-gravity.hpp.

◆ r

VectorXs r

Residual vector.

Definition at line 211 of file residual-base.hpp.

◆ Ru

MatrixXs Ru

Jacobian of the residual vector with respect the control.

Definition at line 213 of file residual-base.hpp.

◆ Rx

MatrixXs Rx

Jacobian of the residual vector with respect the state.

Definition at line 212 of file residual-base.hpp.

◆ shared

Shared data allocated by the action model.

Definition at line 210 of file residual-base.hpp.


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