crocoddyl  1.5.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
DifferentialActionDataContactFwdDynamicsTpl< _Scalar > Struct Template Reference
Inheritance diagram for DifferentialActionDataContactFwdDynamicsTpl< _Scalar >:
Collaboration diagram for DifferentialActionDataContactFwdDynamicsTpl< _Scalar >:

Public Types

typedef DifferentialActionDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from DifferentialActionDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 DifferentialActionDataContactFwdDynamicsTpl (Model< Scalar > *const model)
 
- Public Member Functions inherited from DifferentialActionDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 DifferentialActionDataAbstractTpl (Model< Scalar > *const model)
 

Public Attributes

boost::shared_ptr< CostDataSumTpl< Scalar > > costs
 
MatrixXs df_du
 
MatrixXs df_dx
 
MatrixXs Kinv
 
DataCollectorActMultibodyInContactTpl< Scalar > multibody
 
pinocchio::DataTpl< Scalar > pinocchio
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
MatrixXs tmp_Jstatic
 
VectorXs tmp_xstatic
 
- Public Attributes inherited from DifferentialActionDataAbstractTpl< _Scalar >
Scalar cost
 
MatrixXs Fu
 
MatrixXs Fx
 
VectorXs Lu
 
MatrixXs Luu
 
VectorXs Lx
 
MatrixXs Lxu
 
MatrixXs Lxx
 
VectorXs r
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xout
 

Detailed Description

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

Definition at line 90 of file contact-fwddyn.hpp.


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