JointDataAbstractTpl< _Scalar > Struct Template Reference

Public Types
typedef ActuationModelAbstractTpl< Scalar >	ActuationModelAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef StateAbstractTpl< Scalar >	StateAbstract
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	JointDataAbstractTpl (std::shared_ptr< StateAbstract > state, std::shared_ptr< ActuationModelAbstract > actuation, const std::size_t nu)
	Initialize a joint data structure containing generalized accelerations and joint efforts, and their derivatives.

Public Attributes
VectorXs	a
	Generalized joint acceleration.
MatrixXs	da_du
MatrixXs	da_dx
MatrixXs	dtau_du
MatrixXs	dtau_dx
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
VectorXs	tau
	Joint efforts.

Detailed Description

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

Definition at line 20 of file joint.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 24 of file joint.hpp.

StateAbstract

template<typename _Scalar>

typedef StateAbstractTpl<Scalar> StateAbstract

Definition at line 25 of file joint.hpp.

ActuationModelAbstract

template<typename _Scalar>

typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract

Definition at line 26 of file joint.hpp.

VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 27 of file joint.hpp.

MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 28 of file joint.hpp.

Constructor & Destructor Documentation

JointDataAbstractTpl()

template<typename _Scalar>

JointDataAbstractTpl ( std::shared_ptr< StateAbstract > state, std::shared_ptr< ActuationModelAbstract > actuation, const std::size_t nu )

inline

Initialize a joint data structure containing generalized accelerations and joint efforts, and their derivatives.

Parameters

state	State description
actuation	Actuation model
nu	Dimension of control input

Definition at line 38 of file joint.hpp.

~JointDataAbstractTpl()

template<typename _Scalar>

virtual ~JointDataAbstractTpl ( )

inlinevirtual

Definition at line 54 of file joint.hpp.

Member Data Documentation

Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 23 of file joint.hpp.

tau

template<typename _Scalar>

VectorXs tau

Joint efforts.

Definition at line 56 of file joint.hpp.

a

template<typename _Scalar>

VectorXs a

Generalized joint acceleration.

Definition at line 57 of file joint.hpp.

dtau_dx

template<typename _Scalar>

MatrixXs dtau_dx

Partial derivatives of the joint efforts w.r.t. the state point

Definition at line 58 of file joint.hpp.

dtau_du

template<typename _Scalar>

MatrixXs dtau_du

Partial derivatives of the joint efforts w.r.t. the control input

Definition at line 60 of file joint.hpp.

da_dx

template<typename _Scalar>

MatrixXs da_dx

Partial derivatives of the generalized joint accelerations w.r.t. the state point

Definition at line 62 of file joint.hpp.

da_du

template<typename _Scalar>

MatrixXs da_du

Partial derivatives of the generalized joint accelerations w.r.t. the control input

Definition at line 64 of file joint.hpp.

---

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

• /build/source/include/crocoddyl/core/data/joint.hpp