crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactDataNumDiffTpl< _Scalar > Struct Template Reference
Collaboration diagram for ContactDataNumDiffTpl< _Scalar >:

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ContactDataNumDiffTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 

Public Attributes

VectorXs a0
 
MatrixXs da0_dx
 
boost::shared_ptr< Basedata_0
 The data at the approximation point.
 
std::vector< boost::shared_ptr< Base > > data_x
 The temporary data associated with the state variation.
 
VectorXs dx
 State disturbance.
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::DataTpl< Scalar > * pinocchio
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
 

Detailed Description

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

Definition at line 56 of file fwd.hpp.


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