Public Types | |
typedef ActuationDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::VectorXs | VectorXs |
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typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
template<template< typename Scalar > class Model> | |
ActuationDataNumDiffTpl (Model< Scalar > *const model) | |
Initialize the numdiff actuation data. More... | |
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template<template< typename Scalar > class Model> | |
ActuationDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
boost::shared_ptr< Base > | data_0 |
The data that contains the final results. More... | |
std::vector< boost::shared_ptr< Base > > | data_u |
The temporary data associated with the control variation. More... | |
std::vector< boost::shared_ptr< Base > > | data_x |
The temporary data associated with the state variation. More... | |
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... | |
VectorXs | du |
Control disturbance. More... | |
VectorXs | dx |
State disturbance. More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
VectorXs | tau |
Actuation (generalized force) signal. More... | |
VectorXs | xp |
The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$". More... | |
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MatrixXs | dtau_du |
Partial derivatives of the actuation model w.r.t. the control input. More... | |
MatrixXs | dtau_dx |
Partial derivatives of the actuation model w.r.t. the state point. More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
VectorXs | tau |
Actuation (generalized force) signal. More... | |
Definition at line 106 of file actuation.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 110 of file actuation.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 111 of file actuation.hpp.
typedef ActuationDataAbstractTpl<Scalar> Base |
Definition at line 112 of file actuation.hpp.
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inlineexplicit |
Initialize the numdiff actuation data.
Model | is the type of the ActuationModelAbstractTpl . |
model | is the object to compute the numerical differentiation from. |
Definition at line 121 of file actuation.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 109 of file actuation.hpp.
VectorXs dx |
State disturbance.
Definition at line 140 of file actuation.hpp.
VectorXs du |
Control disturbance.
Definition at line 141 of file actuation.hpp.
VectorXs xp |
The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
Definition at line 142 of file actuation.hpp.
boost::shared_ptr<Base> data_0 |
The data that contains the final results.
Definition at line 143 of file actuation.hpp.
std::vector<boost::shared_ptr<Base> > data_x |
The temporary data associated with the state variation.
Definition at line 144 of file actuation.hpp.
std::vector<boost::shared_ptr<Base> > data_u |
The temporary data associated with the control variation.
Definition at line 145 of file actuation.hpp.
MatrixXs dtau_du |
Partial derivatives of the actuation model w.r.t. the control input.
Definition at line 159 of file actuation-base.hpp.
MatrixXs dtau_dx |
Partial derivatives of the actuation model w.r.t. the state point.
Definition at line 158 of file actuation-base.hpp.
VectorXs tau |
Actuation (generalized force) signal.
Definition at line 157 of file actuation-base.hpp.