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SquashingModelAbstractTpl< _Scalar > Class Template Referenceabstract
Inheritance diagram for SquashingModelAbstractTpl< _Scalar >:
SquashingModelBaseSquashingModelSmoothSatTpl< _Scalar >

Public Types

typedef MathBaseTpl< Scalar > MathBase
typedef SquashingDataAbstractTpl< Scalar > SquashingDataAbstract
typedef MathBase::VectorXs VectorXs

Public Member Functions

 SquashingModelAbstractTpl (const std::size_t ns)
virtual void calc (const std::shared_ptr< SquashingDataAbstract > &data, const Eigen::Ref< const VectorXs > &s)=0
virtual void calcDiff (const std::shared_ptr< SquashingDataAbstract > &data, const Eigen::Ref< const VectorXs > &s)=0
virtual std::shared_ptr< SquashingDataAbstract > createData ()
std::size_t get_ns () const
const VectorXs & get_s_lb () const
const VectorXs & get_s_ub () const
virtual void print (std::ostream &os) const
 Print relevant information of the squashing model.
void set_s_lb (const VectorXs &s_lb)
void set_s_ub (const VectorXs &s_ub)

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Attributes

std::size_t ns_
VectorXs s_lb_
VectorXs s_ub_
VectorXs u_lb_
VectorXs u_ub_

Friends

template<class Scalar>
std::ostream & operator<< (std::ostream &os, const SquashingModelAbstractTpl< Scalar > &model)
 Print information on the actuation model.

Detailed Description

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

Definition at line 25 of file squashing-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 30 of file squashing-base.hpp.

◆ SquashingDataAbstract

template<typename _Scalar>
typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract

Definition at line 31 of file squashing-base.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 32 of file squashing-base.hpp.

Constructor & Destructor Documentation

◆ SquashingModelAbstractTpl() [1/2]

template<typename _Scalar>
SquashingModelAbstractTpl(const std::size_tns)
inline

Definition at line 34 of file squashing-base.hpp.

◆ SquashingModelAbstractTpl() [2/2]

template<typename _Scalar>
SquashingModelAbstractTpl()
inlineprotected

Definition at line 81 of file squashing-base.hpp.

Member Function Documentation

◆ createData()

template<typename _Scalar>
virtual std::shared_ptr< SquashingDataAbstract > createData()
inlinevirtual

Definition at line 45 of file squashing-base.hpp.

◆ print()

template<typename _Scalar>
virtual void print(std::ostream &os)const
inlinevirtual

Print relevant information of the squashing model.

Parameters
[out]osOutput stream object

Definition at line 62 of file squashing-base.hpp.

◆ get_ns()

template<typename _Scalar>
std::size_t get_ns()const
inline

Definition at line 66 of file squashing-base.hpp.

◆ get_s_lb()

template<typename _Scalar>
const VectorXs & get_s_lb()const
inline

Definition at line 67 of file squashing-base.hpp.

◆ get_s_ub()

template<typename _Scalar>
const VectorXs & get_s_ub()const
inline

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

◆ set_s_lb()

template<typename _Scalar>
void set_s_lb(const VectorXs &s_lb)
inline

Definition at line 70 of file squashing-base.hpp.

◆ set_s_ub()

template<typename _Scalar>
void set_s_ub(const VectorXs &s_ub)
inline

Definition at line 71 of file squashing-base.hpp.

◆ operator<<

template<typename _Scalar>
template<class Scalar>
std::ostream & operator<<(std::ostream &os,
const SquashingModelAbstractTpl< Scalar > &model )
friend

Print information on the actuation model.

Definition at line 107 of file squashing-base.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 29 of file squashing-base.hpp.

◆ ns_

template<typename _Scalar>
std::size_t ns_
protected

Definition at line 74 of file squashing-base.hpp.

◆ u_ub_

template<typename _Scalar>
VectorXs u_ub_
protected

Definition at line 75 of file squashing-base.hpp.

◆ u_lb_

template<typename _Scalar>
VectorXs u_lb_
protected

Definition at line 76 of file squashing-base.hpp.

◆ s_ub_

template<typename _Scalar>
VectorXs s_ub_
protected

Definition at line 78 of file squashing-base.hpp.

◆ s_lb_

template<typename _Scalar>
VectorXs s_lb_
protected

Definition at line 80 of file squashing-base.hpp.

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