crocoddyl  1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ResidualDataNumDiffTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataNumDiffTpl< _Scalar >:
Collaboration diagram for ResidualDataNumDiffTpl< _Scalar >:

Public Types

typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
 
typedef ResidualDataAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::VectorXs VectorXs
 
- Public Types inherited from ResidualDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ResidualDataNumDiffTpl (Model< Scalar > *const model, DataCollectorAbstract *const shared_data)
 
- Public Member Functions inherited from ResidualDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 

Public Attributes

boost::shared_ptr< Basedata_0
 The data at the approximation point.
 
std::vector< boost::shared_ptr< Base > > data_u
 The temporary data associated with the control variation.
 
std::vector< boost::shared_ptr< Base > > data_x
 The temporary data associated with the state variation.
 
VectorXs du
 Control disturbance.
 
VectorXs dx
 State disturbance.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs up
 The integrated control from the disturbance on one DoF "\f$ \int u du_i = u + du \f$".
 
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
 
- Public Attributes inherited from ResidualDataAbstractTpl< _Scalar >
VectorXs r
 Residual vector.
 
MatrixXs Ru
 Jacobian of the residual vector with respect the control.
 
MatrixXs Rx
 Jacobian of the residual vector with respect the state.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
DataCollectorAbstractshared
 Shared data allocated by the action model.
 

Detailed Description

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

Definition at line 194 of file fwd.hpp.


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