Public Types | |
| typedef ActuationDataAbstractTpl< Scalar > | Base |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::MatrixXs | MatrixXs |
| typedef SquashingDataAbstractTpl< Scalar > | SquashingDataAbstract |
| typedef MathBase::VectorXs | VectorXs |
| Public Types inherited from ActuationDataAbstractTpl< _Scalar > | |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::MatrixXs | MatrixXs |
| typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
| template<template< typename Scalar > class Model> | |
| ActuationSquashingDataTpl (Model< Scalar > *const model) | |
| Public Member Functions inherited from ActuationDataAbstractTpl< _Scalar > | |
| template<template< typename Scalar > class Model> | |
| ActuationDataAbstractTpl (Model< Scalar > *const model) | |
Public Attributes | |
| std::shared_ptr< Base > | actuation |
| MatrixXs | dtau_du |
| MatrixXs | dtau_dx |
| MatrixXs | Mtau |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| std::shared_ptr< SquashingDataAbstract > | squashing |
| VectorXs | tau |
| Generalized torques. | |
| std::vector< bool > | tau_set |
| True for joints that are actuacted. | |
| VectorXs | u |
| Joint torques. | |
| Public Attributes inherited from ActuationDataAbstractTpl< _Scalar > | |
| MatrixXs | dtau_du |
| MatrixXs | dtau_dx |
| MatrixXs | Mtau |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| VectorXs | tau |
| Generalized torques. | |
| std::vector< bool > | tau_set |
| True for joints that are actuacted. | |
| VectorXs | u |
| Joint torques. | |
Detailed Description
struct crocoddyl::ActuationSquashingDataTpl< _Scalar >
Definition at line 101 of file actuation-squashing.hpp.
Member Typedef Documentation
◆ Base
| typedef ActuationDataAbstractTpl<Scalar> Base |
Definition at line 105 of file actuation-squashing.hpp.
◆ SquashingDataAbstract
| typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract |
Definition at line 106 of file actuation-squashing.hpp.
◆ MathBase
| typedef MathBaseTpl<Scalar> MathBase |
Definition at line 107 of file actuation-squashing.hpp.
◆ VectorXs
| typedef MathBase::VectorXs VectorXs |
Definition at line 108 of file actuation-squashing.hpp.
◆ MatrixXs
| typedef MathBase::MatrixXs MatrixXs |
Definition at line 109 of file actuation-squashing.hpp.
Constructor & Destructor Documentation
◆ ActuationSquashingDataTpl()
| inlineexplicit |
Definition at line 112 of file actuation-squashing.hpp.
Member Data Documentation
◆ Scalar
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 104 of file actuation-squashing.hpp.
◆ squashing
| std::shared_ptr<SquashingDataAbstract> squashing |
Definition at line 119 of file actuation-squashing.hpp.
◆ actuation
| std::shared_ptr<Base> actuation |
Definition at line 120 of file actuation-squashing.hpp.
◆ dtau_du
| MatrixXs dtau_du |
Partial derivatives of the actuation model w.r.t. the joint torque input
Definition at line 207 of file actuation-base.hpp.
◆ dtau_dx
| MatrixXs dtau_dx |
Partial derivatives of the actuation model w.r.t. the state point
Definition at line 205 of file actuation-base.hpp.
◆ Mtau
| MatrixXs Mtau |
Torque transform from generalized torques to joint torque inputs
Definition at line 209 of file actuation-base.hpp.
◆ tau
| VectorXs tau |
Generalized torques.
Definition at line 203 of file actuation-base.hpp.
◆ tau_set
| std::vector<bool> tau_set |
True for joints that are actuacted.
Definition at line 211 of file actuation-base.hpp.
◆ u
| VectorXs u |
Joint torques.
Definition at line 204 of file actuation-base.hpp.
The documentation for this struct was generated from the following file:
- /build/source/include/crocoddyl/core/actuation/actuation-squashing.hpp
