Crocoddyl
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ConstraintDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ConstraintDataAbstractTpl< _Scalar >:
ConstraintDataNumDiffTpl< _Scalar >ConstraintDataResidualTpl< _Scalar >

Public Types

typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef ResidualDataAbstractTpl< Scalar > ResidualDataAbstract
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 ConstraintDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes

VectorXs g
 Inequality constraint values.
MatrixXs Gu
 Jacobian of the inequality constraint.
MatrixXs Gx
 Jacobian of the inequality constraint.
VectorXs h
 Equality constraint values.
MatrixXs Hu
 Jacobian of the equality constraint.
MatrixXs Hx
 Jacobian of the equality constraint.
std::shared_ptr< ResidualDataAbstract > residual
 Residual data.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared data.

Detailed Description

template<typename _Scalar>
struct crocoddyl::ConstraintDataAbstractTpl< _Scalar >

Definition at line 269 of file constraint-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 273 of file constraint-base.hpp.

◆ ResidualDataAbstract

template<typename _Scalar>
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 274 of file constraint-base.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 275 of file constraint-base.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 276 of file constraint-base.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 277 of file constraint-base.hpp.

Constructor & Destructor Documentation

◆ ConstraintDataAbstractTpl()

template<typename _Scalar>
template<template< typename Scalar > class Model>
ConstraintDataAbstractTpl(Model< Scalar > *constmodel,
DataCollectorAbstract *constdata )
inline

Definition at line 280 of file constraint-base.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 272 of file constraint-base.hpp.

◆ shared

template<typename _Scalar>
DataCollectorAbstract* shared

Shared data.

Definition at line 302 of file constraint-base.hpp.

◆ residual

template<typename _Scalar>
std::shared_ptr<ResidualDataAbstract> residual

Residual data.

Definition at line 303 of file constraint-base.hpp.

◆ g

template<typename _Scalar>
VectorXs g

Inequality constraint values.

Definition at line 304 of file constraint-base.hpp.

◆ Gx

template<typename _Scalar>
MatrixXs Gx

Jacobian of the inequality constraint.

Definition at line 305 of file constraint-base.hpp.

◆ Gu

template<typename _Scalar>
MatrixXs Gu

Jacobian of the inequality constraint.

Definition at line 306 of file constraint-base.hpp.

◆ h

template<typename _Scalar>
VectorXs h

Equality constraint values.

Definition at line 307 of file constraint-base.hpp.

◆ Hx

template<typename _Scalar>
MatrixXs Hx

Jacobian of the equality constraint.

Definition at line 308 of file constraint-base.hpp.

◆ Hu

template<typename _Scalar>
MatrixXs Hu

Jacobian of the equality constraint.

Definition at line 309 of file constraint-base.hpp.

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