crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
Loading...
Searching...
No Matches
ResidualDataContactForceTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataContactForceTpl< _Scalar >:
Collaboration diagram for ResidualDataContactForceTpl< _Scalar >:

Public Types

typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef ContactModelMultipleTpl< Scalar > ContactModelMultiple
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef pinocchio::ForceTpl< Scalar > Force
 
typedef ImpulseModelMultipleTpl< Scalar > ImpulseModelMultiple
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
- 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>
 ResidualDataContactForceTpl (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

boost::shared_ptr< ForceDataAbstractTpl< Scalar > > contact
 Contact force data. More...
 
ContactType contact_type
 Type of contact (3D / 6D) 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::ResidualDataContactForceTpl< _Scalar >

Definition at line 189 of file contact-force.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 193 of file contact-force.hpp.

◆ Base

typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 194 of file contact-force.hpp.

◆ DataCollectorAbstract

Definition at line 195 of file contact-force.hpp.

◆ ContactModelMultiple

Definition at line 196 of file contact-force.hpp.

◆ ImpulseModelMultiple

Definition at line 197 of file contact-force.hpp.

◆ Force

typedef pinocchio::ForceTpl<Scalar> Force

Definition at line 198 of file contact-force.hpp.

◆ StateMultibody

Definition at line 199 of file contact-force.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 200 of file contact-force.hpp.

Constructor & Destructor Documentation

◆ ResidualDataContactForceTpl()

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

Definition at line 203 of file contact-force.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 192 of file contact-force.hpp.

◆ contact

boost::shared_ptr<ForceDataAbstractTpl<Scalar> > contact

Contact force data.

Definition at line 280 of file contact-force.hpp.

◆ contact_type

ContactType contact_type

Type of contact (3D / 6D)

Definition at line 281 of file contact-force.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: