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

Public Types

typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ActuationDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

MatrixXs dtau_du
 Partial derivatives of the actuation model w.r.t. the control input. More...
 
MatrixXs dtau_dx
 Partial derivatives of the actuation model w.r.t. the state point. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs tau
 Actuation (generalized force) signal. More...
 

Detailed Description

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

Definition at line 138 of file actuation-base.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 142 of file actuation-base.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 143 of file actuation-base.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 144 of file actuation-base.hpp.

Constructor & Destructor Documentation

◆ ActuationDataAbstractTpl()

ActuationDataAbstractTpl ( Model< Scalar > *const  model)
inlineexplicit

Definition at line 147 of file actuation-base.hpp.

◆ ~ActuationDataAbstractTpl()

virtual ~ActuationDataAbstractTpl ( )
inlinevirtual

Definition at line 155 of file actuation-base.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 141 of file actuation-base.hpp.

◆ tau

VectorXs tau

Actuation (generalized force) signal.

Definition at line 157 of file actuation-base.hpp.

◆ dtau_dx

MatrixXs dtau_dx

Partial derivatives of the actuation model w.r.t. the state point.

Definition at line 158 of file actuation-base.hpp.

◆ dtau_du

MatrixXs dtau_du

Partial derivatives of the actuation model w.r.t. the control input.

Definition at line 159 of file actuation-base.hpp.


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