Public Types | |
typedef ResidualDataAbstractTpl< Scalar > | Base |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::Matrix6xs | Matrix6xs |
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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> | |
ResidualDataCentroidalMomentumTpl (Model< Scalar > *const model, DataCollectorAbstract *const data) | |
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template<template< typename Scalar > class Model> | |
ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data) | |
Public Attributes | |
Matrix6xs | dhd_dq |
Jacobian of the centroidal momentum. More... | |
Matrix6xs | dhd_dv |
Jacobian of the centroidal momentum. More... | |
pinocchio::DataTpl< Scalar > * | 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 |
DataCollectorAbstract * | shared |
Shared data allocated by the action model. More... | |
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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 |
DataCollectorAbstract * | shared |
Shared data allocated by the action model. More... | |
Definition at line 124 of file centroidal-momentum.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 128 of file centroidal-momentum.hpp.
typedef ResidualDataAbstractTpl<Scalar> Base |
Definition at line 129 of file centroidal-momentum.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 130 of file centroidal-momentum.hpp.
typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 131 of file centroidal-momentum.hpp.
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inline |
Definition at line 134 of file centroidal-momentum.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 127 of file centroidal-momentum.hpp.
pinocchio::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 149 of file centroidal-momentum.hpp.
Matrix6xs dhd_dq |
Jacobian of the centroidal momentum.
Definition at line 150 of file centroidal-momentum.hpp.
Matrix6xs dhd_dv |
Jacobian of the centroidal momentum.
Definition at line 151 of file centroidal-momentum.hpp.
VectorXs r |
Residual vector.
Definition at line 211 of file residual-base.hpp.
MatrixXs Ru |
Jacobian of the residual vector with respect the control.
Definition at line 213 of file residual-base.hpp.
MatrixXs Rx |
Jacobian of the residual vector with respect the state.
Definition at line 212 of file residual-base.hpp.
DataCollectorAbstract* shared |
Shared data allocated by the action model.
Definition at line 210 of file residual-base.hpp.