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typedef ActuationDataAbstractTpl< Scalar > | Base |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::VectorXs | VectorXs |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef MathBase::VectorXs | VectorXs |
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template<template< typename Scalar > class Model> |
| ActuationDataNumDiffTpl (Model< Scalar > *const model) |
| Initialize the numdiff actuation data. More...
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template<template< typename Scalar > class Model> |
| ActuationDataAbstractTpl (Model< Scalar > *const model) |
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boost::shared_ptr< Base > | data_0 |
| The data that contains the final results.
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std::vector< boost::shared_ptr< Base > > | data_u |
| The temporary data associated with the control variation.
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std::vector< boost::shared_ptr< Base > > | data_x |
| The temporary data associated with the state variation.
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MatrixXs | dtau_du |
| Partial derivatives of the actuation model w.r.t. the control input.
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MatrixXs | dtau_dx |
| Partial derivatives of the actuation model w.r.t. the state point.
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VectorXs | du |
| Control disturbance.
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VectorXs | dx |
| State disturbance.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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VectorXs | tau |
| Actuation (generalized force) signal.
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VectorXs | xp |
| The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
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MatrixXs | dtau_du |
| Partial derivatives of the actuation model w.r.t. the control input.
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MatrixXs | dtau_dx |
| Partial derivatives of the actuation model w.r.t. the state point.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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VectorXs | tau |
| Actuation (generalized force) signal.
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template<typename _Scalar>
struct crocoddyl::ActuationDataNumDiffTpl< _Scalar >
Definition at line 106 of file actuation.hpp.
◆ ActuationDataNumDiffTpl()
Initialize the numdiff actuation data.
- Template Parameters
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- Parameters
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model | is the object to compute the numerical differentiation from. |
Definition at line 121 of file actuation.hpp.
The documentation for this struct was generated from the following files: