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SquashingModelSmoothSatTpl< _Scalar > Class Template Reference
Inheritance diagram for SquashingModelSmoothSatTpl< _Scalar >:
SquashingModelAbstractTpl< _Scalar >SquashingModelBase

Public Types

typedef SquashingModelAbstractTpl< Scalar > Base
typedef MathBaseTpl< Scalar > MathBase
typedef SquashingDataAbstractTpl< Scalar > SquashingDataAbstract
typedef MathBase::VectorXs VectorXs
Public Types inherited from SquashingModelAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
typedef SquashingDataAbstractTpl< Scalar > SquashingDataAbstract
typedef MathBase::VectorXs VectorXs

Public Member Functions

 SquashingModelSmoothSatTpl (const Eigen::Ref< const VectorXs > &u_lb, const Eigen::Ref< const VectorXs > &u_ub, const std::size_t ns)
virtual void calc (const std::shared_ptr< SquashingDataAbstract > &data, const Eigen::Ref< const VectorXs > &s) override
virtual void calcDiff (const std::shared_ptr< SquashingDataAbstract > &data, const Eigen::Ref< const VectorXs > &s) override
template<typename NewScalar>
SquashingModelSmoothSatTpl< NewScalar > cast () const
const VectorXs & get_d () const
const Scalar get_smooth () const
void set_smooth (const Scalar smooth)
Public Member Functions inherited from SquashingModelAbstractTpl< _Scalar >
 SquashingModelAbstractTpl (const std::size_t ns)
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
Public Attributes inherited from SquashingModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Additional Inherited Members

Protected Attributes inherited from SquashingModelAbstractTpl< _Scalar >
std::size_t ns_
VectorXs s_lb_
VectorXs s_ub_
VectorXs u_lb_
VectorXs u_ub_

Detailed Description

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

Definition at line 19 of file smooth-sat.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 25 of file smooth-sat.hpp.

◆ Base

template<typename _Scalar>
typedef SquashingModelAbstractTpl<Scalar> Base

Definition at line 26 of file smooth-sat.hpp.

◆ SquashingDataAbstract

template<typename _Scalar>
typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract

Definition at line 27 of file smooth-sat.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 28 of file smooth-sat.hpp.

Constructor & Destructor Documentation

◆ SquashingModelSmoothSatTpl()

template<typename _Scalar>
SquashingModelSmoothSatTpl(const Eigen::Ref< const VectorXs > &u_lb,
const Eigen::Ref< const VectorXs > &u_ub,
const std::size_tns )
inline

Definition at line 30 of file smooth-sat.hpp.

Member Function Documentation

◆ calc()

template<typename _Scalar>
virtual void calc(const std::shared_ptr< SquashingDataAbstract > &data,
const Eigen::Ref< const VectorXs > &s )
inlineoverridevirtual

Implements SquashingModelAbstractTpl< _Scalar >.

Definition at line 48 of file smooth-sat.hpp.

◆ calcDiff()

template<typename _Scalar>
virtual void calcDiff(const std::shared_ptr< SquashingDataAbstract > &data,
const Eigen::Ref< const VectorXs > &s )
inlineoverridevirtual

Implements SquashingModelAbstractTpl< _Scalar >.

Definition at line 59 of file smooth-sat.hpp.

◆ cast()

template<typename _Scalar>
template<typename NewScalar>
SquashingModelSmoothSatTpl< NewScalar > cast()const
inline

Definition at line 74 of file smooth-sat.hpp.

◆ get_smooth()

template<typename _Scalar>
const Scalar get_smooth()const
inline

Definition at line 81 of file smooth-sat.hpp.

◆ set_smooth()

template<typename _Scalar>
void set_smooth(const Scalarsmooth)
inline

Definition at line 82 of file smooth-sat.hpp.

◆ get_d()

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

Definition at line 95 of file smooth-sat.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 24 of file smooth-sat.hpp.

The documentation for this class was generated from the following file:
  • /build/source/include/crocoddyl/core/actuation/squashing/smooth-sat.hpp