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boost::shared_ptr< ForceDataAbstractTpl< Scalar > > | contact |
| Contact force.
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pinocchio::DataTpl< Scalar > * | pinocchio |
| Pinocchio data.
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VectorXs | r |
| Residual vector.
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MatrixXs | Ru |
| Jacobian of the residual vector with respect the control.
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MatrixXs | Rx |
| Jacobian of the residual vector with respect the state.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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DataCollectorAbstract * | shared |
| Shared data allocated by the action model.
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VectorXs | r |
| Residual vector.
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MatrixXs | Ru |
| Jacobian of the residual vector with respect the control.
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MatrixXs | Rx |
| Jacobian of the residual vector with respect the state.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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DataCollectorAbstract * | shared |
| Shared data allocated by the action model.
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template<typename _Scalar>
struct crocoddyl::ResidualDataContactCoPPositionTpl< _Scalar >
Definition at line 114 of file fwd.hpp.