Public Types | |
typedef ResidualDataAbstractTpl< Scalar > | Base |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::Matrix3xs | Matrix3xs |
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> | |
ResidualDataImpulseCoMTpl (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 | |
MatrixXs | ddv_dv |
Jacobian of the CoM velocity. More... | |
Matrix3xs | dvc_dq |
Jacobian of the CoM velocity. More... | |
boost::shared_ptr< crocoddyl::ImpulseDataMultipleTpl< Scalar > > | impulses |
Impulses data. More... | |
pinocchio::DataTpl< Scalar > * | pinocchio |
Pinocchio data. More... | |
pinocchio::DataTpl< Scalar > | pinocchio_internal |
Pinocchio data for internal computation. 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 101 of file impulse-com.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 105 of file impulse-com.hpp.
typedef ResidualDataAbstractTpl<Scalar> Base |
Definition at line 106 of file impulse-com.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 107 of file impulse-com.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 108 of file impulse-com.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 109 of file impulse-com.hpp.
typedef MathBase::Matrix3xs Matrix3xs |
Definition at line 110 of file impulse-com.hpp.
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inline |
Definition at line 113 of file impulse-com.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 104 of file impulse-com.hpp.
pinocchio::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 130 of file impulse-com.hpp.
boost::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> > impulses |
Impulses data.
Definition at line 131 of file impulse-com.hpp.
Matrix3xs dvc_dq |
Jacobian of the CoM velocity.
Definition at line 132 of file impulse-com.hpp.
MatrixXs ddv_dv |
Jacobian of the CoM velocity.
Definition at line 133 of file impulse-com.hpp.
pinocchio::DataTpl<Scalar> pinocchio_internal |
Pinocchio data for internal computation.
Definition at line 134 of file impulse-com.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.