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

Public Types

typedef ActuationDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActuationDataAbstractTpl< _Scalar >
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...
 
- Public Member Functions inherited from ActuationDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ActuationDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

boost::shared_ptr< Basedata_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...
 
- Public Attributes inherited from ActuationDataAbstractTpl< _Scalar >
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...
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ActuationDataNumDiffTpl< _Scalar >

Definition at line 106 of file actuation.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 110 of file actuation.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 111 of file actuation.hpp.

◆ Base

typedef ActuationDataAbstractTpl<Scalar> Base

Definition at line 112 of file actuation.hpp.

Constructor & Destructor Documentation

◆ ActuationDataNumDiffTpl()

ActuationDataNumDiffTpl ( Model< Scalar > *const  model)
inlineexplicit

Initialize the numdiff actuation data.

Template Parameters
Modelis the type of the ActuationModelAbstractTpl.
Parameters
modelis the object to compute the numerical differentiation from.

Definition at line 121 of file actuation.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 109 of file actuation.hpp.

◆ dx

VectorXs dx

State disturbance.

Definition at line 140 of file actuation.hpp.

◆ du

VectorXs du

Control disturbance.

Definition at line 141 of file actuation.hpp.

◆ xp

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.

◆ data_0

boost::shared_ptr<Base> data_0

The data that contains the final results.

Definition at line 143 of file actuation.hpp.

◆ data_x

std::vector<boost::shared_ptr<Base> > data_x

The temporary data associated with the state variation.

Definition at line 144 of file actuation.hpp.

◆ data_u

std::vector<boost::shared_ptr<Base> > data_u

The temporary data associated with the control variation.

Definition at line 145 of file actuation.hpp.

◆ dtau_du

MatrixXs dtau_du

Partial derivatives of the actuation model w.r.t. the control input.

Definition at line 159 of file actuation-base.hpp.

◆ dtau_dx

MatrixXs dtau_dx

Partial derivatives of the actuation model w.r.t. the state point.

Definition at line 158 of file actuation-base.hpp.

◆ tau

VectorXs tau

Actuation (generalized force) signal.

Definition at line 157 of file actuation-base.hpp.


The documentation for this struct was generated from the following files: