Public Types | |
typedef ActuationDataAbstractTpl< Scalar > | ActuationDataAbstract |
typedef ActuationModelAbstractTpl< Scalar > | ActuationModelAbstract |
typedef ActuationModelAbstractTpl< Scalar > | Base |
typedef ActuationSquashingDataTpl< Scalar > | Data |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef SquashingModelAbstractTpl< Scalar > | SquashingModelAbstract |
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 | |
ActuationSquashingModelTpl (boost::shared_ptr< ActuationModelAbstract > actuation, boost::shared_ptr< SquashingModelAbstract > squashing, const std::size_t &nu) | |
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) |
boost::shared_ptr< ActuationDataAbstract > | createData () |
const boost::shared_ptr< ActuationModelAbstract > & | get_actuation () const |
const boost::shared_ptr< SquashingModelAbstract > & | get_squashing () const |
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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 |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
boost::shared_ptr< ActuationModelAbstract > | actuation_ |
boost::shared_ptr< SquashingModelAbstract > | squashing_ |
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std::size_t | nu_ |
boost::shared_ptr< StateAbstract > | state_ |
Definition at line 19 of file actuation-squashing.hpp.