Public Types | |
typedef ActuationDataAbstractTpl< Scalar > | ActuationDataAbstract |
typedef ActuationModelAbstractTpl< Scalar > | Base |
typedef ActuationDataNumDiffTpl< Scalar > | Data |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef _Scalar | Scalar |
typedef MathBase::VectorXs | VectorXs |
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typedef ActuationDataAbstractTpl< Scalar > | ActuationDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateAbstractTpl< Scalar > | StateAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
ActuationModelNumDiffTpl (boost::shared_ptr< Base > model) | |
Construct a new ActuationModelNumDiff object. More... | |
virtual | ~ActuationModelNumDiffTpl () |
Destroy the ActuationModelNumDiff object. | |
virtual void | calc (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
virtual void | calcDiff (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
virtual boost::shared_ptr< ActuationDataAbstract > | createData () |
Create a Data object from the given model. More... | |
const Scalar & | get_disturbance () const |
Get the disturbance_ object. More... | |
const boost::shared_ptr< Base > & | get_model () const |
Get the model_ object. More... | |
void | set_disturbance (const Scalar &disturbance) |
Set the disturbance_ object. More... | |
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ActuationModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu) | |
const std::size_t & | get_nu () const |
const boost::shared_ptr< StateAbstract > & | get_state () const |
Additional Inherited Members | |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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std::size_t | nu_ |
boost::shared_ptr< StateAbstract > | state_ |
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explicit |
Construct a new ActuationModelNumDiff object.
model |
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virtual |
Implements ActuationModelAbstractTpl< _Scalar >.
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virtual |
Implements ActuationModelAbstractTpl< _Scalar >.
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virtual |
Create a Data object from the given model.
Reimplemented from ActuationModelAbstractTpl< _Scalar >.
const Scalar& get_disturbance | ( | ) | const |
Get the disturbance_ object.
const boost::shared_ptr<Base>& get_model | ( | ) | const |
Get the model_ object.
void set_disturbance | ( | const Scalar & | disturbance | ) |
Set the disturbance_ object.
disturbance | is the value used to find the numerical derivative |