crocoddyl  1.4.0
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ActuationModelNumDiffTpl< _Scalar > Class Template Reference
Inheritance diagram for ActuationModelNumDiffTpl< _Scalar >:
Collaboration diagram for ActuationModelNumDiffTpl< _Scalar >:

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
 
- Public Types inherited from ActuationModelAbstractTpl< _Scalar >
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< ActuationDataAbstractcreateData ()
 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...
 
- Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
 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

- Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t nu_
 
boost::shared_ptr< StateAbstractstate_
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ActuationModelNumDiffTpl< _Scalar >

Definition at line 138 of file fwd.hpp.

Constructor & Destructor Documentation

◆ ActuationModelNumDiffTpl()

ActuationModelNumDiffTpl ( boost::shared_ptr< Base model)
explicit

Construct a new ActuationModelNumDiff object.

Parameters
model

Member Function Documentation

◆ calc()

virtual void calc ( const boost::shared_ptr< ActuationDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< ActuationDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

◆ createData()

virtual boost::shared_ptr<ActuationDataAbstract> createData ( )
virtual

Create a Data object from the given model.

Returns
boost::shared_ptr<ActuationDataAbstract>

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

◆ get_model()

const boost::shared_ptr<Base>& get_model ( ) const

Get the model_ object.

Returns
Base&

◆ get_disturbance()

const Scalar& get_disturbance ( ) const

Get the disturbance_ object.

Returns
const Scalar&

◆ set_disturbance()

void set_disturbance ( const Scalar &  disturbance)

Set the disturbance_ object.

Parameters
disturbanceis the value used to find the numerical derivative

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