Crocoddyl
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DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation Struct Reference
Inheritance diagram for DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation:
ResidualDataAbstractTpl< _Scalar >

Public Types

typedef ActuationDataAbstractTpl< Scalar > ActuationDataAbstract
typedef ResidualDataAbstractTpl< Scalar > Base
typedef ContactDataMultipleTpl< Scalar > ContactDataMultiple
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef DataCollectorActMultibodyInContactTpl< Scalar > DataCollectorActMultibodyInContact
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
Public Types inherited from ResidualDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 ResidualDataActuation (Model< Scalar > *const model, DataCollectorAbstract *const data)
Public Member Functions inherited from ResidualDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes

std::shared_ptr< ActuationDataAbstract > actuation
 Actuation data.
std::shared_ptr< ContactDataMultiple > contact
 Contact data.
MatrixXs dtau_du
MatrixXs dtau_dx
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
VectorXs r
 Residual vector.
MatrixXs Ru
 Jacobian of the residual vector with respect the control.
MatrixXs Rx
 Jacobian of the residual vector with respect the state.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared data allocated by the action model.
Public Attributes inherited from ResidualDataAbstractTpl< _Scalar >
MatrixXs Arr_Ru
MatrixXs Arr_Rx
VectorXs r
 Residual vector.
MatrixXs Ru
 Jacobian of the residual vector with respect the control.
MatrixXs Rx
 Jacobian of the residual vector with respect the state.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared data allocated by the action model.

Detailed Description

template<typename _Scalar>
struct crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation

Definition at line 699 of file contact-invdyn.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 703 of file contact-invdyn.hpp.

◆ Base

template<typename _Scalar>
typedef ResidualDataAbstractTpl<Scalar> Base

Definition at line 704 of file contact-invdyn.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 705 of file contact-invdyn.hpp.

◆ DataCollectorActMultibodyInContact

template<typename _Scalar>
typedef DataCollectorActMultibodyInContactTpl<Scalar> DataCollectorActMultibodyInContact

Definition at line 707 of file contact-invdyn.hpp.

◆ ActuationDataAbstract

template<typename _Scalar>
typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

Definition at line 708 of file contact-invdyn.hpp.

◆ ContactDataMultiple

template<typename _Scalar>
typedef ContactDataMultipleTpl<Scalar> ContactDataMultiple

Definition at line 709 of file contact-invdyn.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 710 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

◆ ResidualDataActuation()

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

Definition at line 713 of file contact-invdyn.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 702 of file contact-invdyn.hpp.

◆ pinocchio

template<typename _Scalar>
pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 735 of file contact-invdyn.hpp.

◆ actuation

template<typename _Scalar>
std::shared_ptr<ActuationDataAbstract> actuation

Actuation data.

Definition at line 736 of file contact-invdyn.hpp.

◆ contact

template<typename _Scalar>
std::shared_ptr<ContactDataMultiple> contact

Contact data.

Definition at line 737 of file contact-invdyn.hpp.

◆ dtau_dx

template<typename _Scalar>
MatrixXs dtau_dx

Definition at line 738 of file contact-invdyn.hpp.

◆ dtau_du

template<typename _Scalar>
MatrixXs dtau_du

Definition at line 739 of file contact-invdyn.hpp.

◆ r

template<typename _Scalar>
VectorXs r

Residual vector.

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

◆ Ru

template<typename _Scalar>
MatrixXs Ru

Jacobian of the residual vector with respect the control.

Definition at line 279 of file residual-base.hpp.

◆ Rx

template<typename _Scalar>
MatrixXs Rx

Jacobian of the residual vector with respect the state.

Definition at line 278 of file residual-base.hpp.

◆ shared

template<typename _Scalar>
DataCollectorAbstract* shared

Shared data allocated by the action model.

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

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