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

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6xs Matrix6xs
 
- 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>
 ResidualDataCentroidalMomentumTpl (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 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
 
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::ResidualDataCentroidalMomentumTpl< _Scalar >

Definition at line 124 of file centroidal-momentum.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 128 of file centroidal-momentum.hpp.

◆ Base

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 129 of file centroidal-momentum.hpp.

◆ DataCollectorAbstract

Definition at line 130 of file centroidal-momentum.hpp.

◆ Matrix6xs

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 131 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

◆ ResidualDataCentroidalMomentumTpl()

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

Definition at line 134 of file centroidal-momentum.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 127 of file centroidal-momentum.hpp.

◆ pinocchio

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 149 of file centroidal-momentum.hpp.

◆ dhd_dq

Matrix6xs dhd_dq

Jacobian of the centroidal momentum.

Definition at line 150 of file centroidal-momentum.hpp.

◆ dhd_dv

Matrix6xs dhd_dv

Jacobian of the centroidal momentum.

Definition at line 151 of file centroidal-momentum.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: