crocoddyl  1.6.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
StateMultibodyTpl< _Scalar > Class Template Reference

Public Types

typedef StateAbstractTpl< Scalar > Base
 
enum  JointType { FreeFlyer = 0, Spherical, Simple }
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef pinocchio::ModelTpl< Scalar > PinocchioModel
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 StateMultibodyTpl (boost::shared_ptr< PinocchioModel > model)
 
virtual void diff (const Eigen::Ref< const VectorXs > &x0, const Eigen::Ref< const VectorXs > &x1, Eigen::Ref< VectorXs > dxout) const
 
const boost::shared_ptr< PinocchioModel > & get_pinocchio () const
 
virtual void integrate (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< VectorXs > xout) const
 
virtual void Jdiff (const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, const Jcomponent firstsecond=both) const
 
virtual void Jintegrate (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, const Jcomponent firstsecond=both, const AssignmentOp=setto) const
 
virtual void JintegrateTransport (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< MatrixXs > Jin, const Jcomponent firstsecond) const
 
virtual VectorXs rand () const
 
virtual VectorXs zero () const
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

bool has_limits_
 Indicates whether any of the state limits is finite.
 
VectorXs lb_
 Lower state limits.
 
std::size_t ndx_
 State rate dimension.
 
std::size_t nq_
 Configuration dimension.
 
std::size_t nv_
 Velocity dimension.
 
std::size_t nx_
 State dimension.
 
VectorXs ub_
 Upper state limits.
 

Detailed Description

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

Definition at line 201 of file fwd.hpp.


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