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

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix3s Matrix3s
 
typedef MathBase::Matrix3xs Matrix3xs
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef MathBase::Vector3s Vector3s
 
- 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>
 ResidualDataFrameRotationTpl (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

Matrix6xs fJf
 Local Jacobian of the frame. More...
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data. More...
 
VectorXs r
 Residual vector. More...
 
Matrix3s rJf
 Error Jacobian of the frame. More...
 
Matrix3s rRf
 Rotation error of the frame. 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::ResidualDataFrameRotationTpl< _Scalar >

Definition at line 141 of file frame-rotation.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 145 of file frame-rotation.hpp.

◆ Base

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 146 of file frame-rotation.hpp.

◆ DataCollectorAbstract

Definition at line 147 of file frame-rotation.hpp.

◆ Vector3s

typedef MathBase::Vector3s Vector3s

Definition at line 148 of file frame-rotation.hpp.

◆ Matrix3s

typedef MathBase::Matrix3s Matrix3s

Definition at line 149 of file frame-rotation.hpp.

◆ Matrix3xs

typedef MathBase::Matrix3xs Matrix3xs

Definition at line 150 of file frame-rotation.hpp.

◆ Matrix6xs

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 151 of file frame-rotation.hpp.

Constructor & Destructor Documentation

◆ ResidualDataFrameRotationTpl()

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

Definition at line 154 of file frame-rotation.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 144 of file frame-rotation.hpp.

◆ pinocchio

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 170 of file frame-rotation.hpp.

◆ rRf

Matrix3s rRf

Rotation error of the frame.

Definition at line 171 of file frame-rotation.hpp.

◆ rJf

Matrix3s rJf

Error Jacobian of the frame.

Definition at line 172 of file frame-rotation.hpp.

◆ fJf

Matrix6xs fJf

Local Jacobian of the frame.

Definition at line 173 of file frame-rotation.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: