Public Types | |
typedef ResidualDataAbstractTpl< Scalar > | Base |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef FrameCoPSupportTpl< Scalar > | FrameCoPSupport |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
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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> | |
ResidualDataContactCoPPositionTpl (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 | |
boost::shared_ptr< ForceDataAbstractTpl< Scalar > > | contact |
Contact force. 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 202 of file contact-cop-position.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 206 of file contact-cop-position.hpp.
typedef ResidualDataAbstractTpl<Scalar> Base |
Definition at line 207 of file contact-cop-position.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 208 of file contact-cop-position.hpp.
typedef FrameCoPSupportTpl<Scalar> FrameCoPSupport |
Definition at line 209 of file contact-cop-position.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 210 of file contact-cop-position.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 211 of file contact-cop-position.hpp.
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inline |
Definition at line 214 of file contact-cop-position.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 205 of file contact-cop-position.hpp.
pinocchio::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 281 of file contact-cop-position.hpp.
boost::shared_ptr<ForceDataAbstractTpl<Scalar> > contact |
Contact force.
Definition at line 282 of file contact-cop-position.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.