Crocoddyl
Loading...
Searching...
No Matches
ActivationModelNumDiffTpl< _Scalar > Class Template Reference
Inheritance diagram for ActivationModelNumDiffTpl< _Scalar >:
ActivationModelAbstractTpl< _Scalar >ActivationModelBase

Public Types

typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
typedef ActivationModelAbstractTpl< Scalar > Base
typedef ActivationDataNumDiffTpl< Scalar > Data
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs
Public Types inherited from ActivationModelAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

 ActivationModelNumDiffTpl (std::shared_ptr< Base > model)
 Construct a new ActivationModelNumDiff object.
virtual ~ActivationModelNumDiffTpl ()
 Destroy the ActivationModelNumDiff object.
virtual void calc (const std::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r) override
virtual void calcDiff (const std::shared_ptr< ActivationDataAbstract > &data, const Eigen::Ref< const VectorXs > &r) override
template<typename NewScalar>
ActivationModelNumDiffTpl< NewScalar > cast () const
virtual std::shared_ptr< ActivationDataAbstract > createData () override
 Create a Data object from the given model.
const Scalar get_disturbance () const
 Return the disturbance constant used in the numerical differentiation routine.
const std::shared_ptr< Base > & get_model () const
 Get the model_ object.
void set_disturbance (const Scalar disturbance)
 Modify the disturbance constant used in the numerical differentiation routine.
Public Member Functions inherited from ActivationModelAbstractTpl< _Scalar >
 ActivationModelAbstractTpl (const std::size_t nr)
std::size_t get_nr () const
virtual void print (std::ostream &os) const
 Print relevant information of the activation model.

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
Public Attributes inherited from ActivationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Attributes

std::size_t nr_
Protected Attributes inherited from ActivationModelAbstractTpl< _Scalar >
std::size_t nr_

Detailed Description

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

Definition at line 19 of file activation.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 25 of file activation.hpp.

◆ Base

template<typename _Scalar>
typedef ActivationModelAbstractTpl<Scalar> Base

Definition at line 26 of file activation.hpp.

◆ Data

template<typename _Scalar>
typedef ActivationDataNumDiffTpl<Scalar> Data

Definition at line 27 of file activation.hpp.

◆ ActivationDataAbstract

template<typename _Scalar>
typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

Definition at line 28 of file activation.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 29 of file activation.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 30 of file activation.hpp.

Constructor & Destructor Documentation

◆ ActivationModelNumDiffTpl()

template<typename _Scalar>
ActivationModelNumDiffTpl(std::shared_ptr< Base >model)
explicit

Construct a new ActivationModelNumDiff object.

Parameters
model

Member Function Documentation

◆ calc()

template<typename _Scalar>
virtual void calc(const std::shared_ptr< ActivationDataAbstract > &data,
const Eigen::Ref< const VectorXs > &r )
overridevirtual

Implements ActivationModelAbstractTpl< _Scalar >.

◆ calcDiff()

template<typename _Scalar>
virtual void calcDiff(const std::shared_ptr< ActivationDataAbstract > &data,
const Eigen::Ref< const VectorXs > &r )
overridevirtual

Implements ActivationModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>
virtual std::shared_ptr< ActivationDataAbstract > createData()
overridevirtual

Create a Data object from the given model.

Returns
std::shared_ptr<ActivationDataAbstract>

Reimplemented from ActivationModelAbstractTpl< _Scalar >.

◆ get_model()

template<typename _Scalar>
const std::shared_ptr< Base > & get_model()const

Get the model_ object.

Returns
Base&

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 24 of file activation.hpp.

◆ nr_

template<typename _Scalar>
std::size_t nr_
protected

Definition at line 68 of file activation-base.hpp.

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