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

Public Types

typedef ActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ActionDataImpulseFwdDynamicsTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from ActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

boost::shared_ptr< CostDataSumTpl< Scalar > > costs
 
MatrixXs df_dx
 
MatrixXs dgrav_dq
 
MatrixXs Kinv
 
DataCollectorMultibodyInImpulseTpl< Scalar > multibody
 
pinocchio::DataTpl< Scalar > pinocchio
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs vnone
 
- Public Attributes inherited from ActionDataAbstractTpl< _Scalar >
Scalar cost
 cost value More...
 
MatrixXs Fu
 Jacobian of the dynamics. More...
 
MatrixXs Fx
 Jacobian of the dynamics. More...
 
VectorXs Lu
 Jacobian of the cost function. More...
 
MatrixXs Luu
 Hessian of the cost function. More...
 
VectorXs Lx
 Jacobian of the cost function. More...
 
MatrixXs Lxu
 Hessian of the cost function. More...
 
MatrixXs Lxx
 Hessian of the cost function. More...
 
VectorXs r
 Cost residual. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xnext
 evolution state More...
 

Detailed Description

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

Definition at line 199 of file impulse-fwddyn.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 202 of file impulse-fwddyn.hpp.

◆ Base

typedef ActionDataAbstractTpl<Scalar> Base

Definition at line 203 of file impulse-fwddyn.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 204 of file impulse-fwddyn.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 205 of file impulse-fwddyn.hpp.

Constructor & Destructor Documentation

◆ ActionDataImpulseFwdDynamicsTpl()

ActionDataImpulseFwdDynamicsTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 208 of file impulse-fwddyn.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 201 of file impulse-fwddyn.hpp.

◆ pinocchio

pinocchio::DataTpl<Scalar> pinocchio

Definition at line 225 of file impulse-fwddyn.hpp.

◆ multibody

Definition at line 226 of file impulse-fwddyn.hpp.

◆ costs

boost::shared_ptr<CostDataSumTpl<Scalar> > costs

Definition at line 227 of file impulse-fwddyn.hpp.

◆ vnone

VectorXs vnone

Definition at line 228 of file impulse-fwddyn.hpp.

◆ Kinv

MatrixXs Kinv

Definition at line 229 of file impulse-fwddyn.hpp.

◆ df_dx

MatrixXs df_dx

Definition at line 230 of file impulse-fwddyn.hpp.

◆ dgrav_dq

MatrixXs dgrav_dq

Definition at line 231 of file impulse-fwddyn.hpp.


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