GuidanceDataAbstractTpl< _Scalar > Struct Template Reference

Preallocated values and derivatives produced by a guidance model. More...

#include <guidance-base.hpp>

Inheritance diagram for GuidanceDataAbstractTpl< _Scalar >:

Public Types
typedef GuidanceModelAbstractTpl< Scalar >	GuidanceModelAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	GuidanceDataAbstractTpl (const GuidanceModelAbstract *const model)
	Allocate guidance data with the size inferred from the model.

Public Attributes
VectorXs	g
MatrixXs	Ge
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

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

Preallocated values and derivatives produced by a guidance model.

The notation matches the manuscript:

• is the desired task rate;
• is its Jacobian with respect to the task error.

The storage is zero-initialized by the constructor and reused by calc() and calcDiff() to avoid repeated allocations.

Definition at line 126 of file guidance-base.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 130 of file guidance-base.hpp.

GuidanceModelAbstract

template<typename _Scalar>

typedef GuidanceModelAbstractTpl<Scalar> GuidanceModelAbstract

Definition at line 131 of file guidance-base.hpp.

VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 132 of file guidance-base.hpp.

MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 133 of file guidance-base.hpp.

Constructor & Destructor Documentation

GuidanceDataAbstractTpl()

template<typename _Scalar>

GuidanceDataAbstractTpl ( const GuidanceModelAbstract *const model )

inlineexplicit

Allocate guidance data with the size inferred from the model.

Parameters

[in]

model

Guidance model used to size the storage.

Definition at line 140 of file guidance-base.hpp.

Member Data Documentation

Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 129 of file guidance-base.hpp.

g

template<typename _Scalar>

VectorXs g

Definition at line 147 of file guidance-base.hpp.

Ge

template<typename _Scalar>

MatrixXs Ge

Definition at line 148 of file guidance-base.hpp.

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

• /build/source/include/crocoddyl/core/fwd.hpp
• /build/source/include/crocoddyl/core/guidance-base.hpp