Crocoddyl
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ResidualDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ResidualDataAbstractTpl< _Scalar >:
DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuationDifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataContactDifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuationResidualDataCentroidalMomentumTpl< _Scalar >ResidualDataCoMPositionTpl< _Scalar >ResidualDataContactCoPPositionTpl< _Scalar >ResidualDataContactControlGravTpl< _Scalar >ResidualDataContactForceTpl< _Scalar >ResidualDataContactFrictionConeTpl< _Scalar >ResidualDataContactWrenchConeTpl< _Scalar >ResidualDataControlGravTpl< _Scalar >ResidualDataFramePlacementTpl< _Scalar >ResidualDataFrameRotationTpl< _Scalar >ResidualDataFrameTranslationTpl< _Scalar >ResidualDataFrameVelocityTpl< _Scalar >ResidualDataImpulseCoMTpl< _Scalar >ResidualDataJointAccelerationTpl< _Scalar >ResidualDataJointEffortTpl< _Scalar >ResidualDataNumDiffTpl< _Scalar >

Public Types

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>
 ResidualDataAbstractTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)

Public Attributes

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::ResidualDataAbstractTpl< _Scalar >

Definition at line 250 of file residual-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 254 of file residual-base.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 255 of file residual-base.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 256 of file residual-base.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 257 of file residual-base.hpp.

Constructor & Destructor Documentation

◆ ResidualDataAbstractTpl()

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

Definition at line 260 of file residual-base.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 253 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.

◆ r

template<typename _Scalar>
VectorXs r

Residual vector.

Definition at line 277 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.

◆ Ru

template<typename _Scalar>
MatrixXs Ru

Jacobian of the residual vector with respect the control.

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

◆ Arr_Rx

template<typename _Scalar>
MatrixXs Arr_Rx

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

◆ Arr_Ru

template<typename _Scalar>
MatrixXs Arr_Ru

Definition at line 281 of file residual-base.hpp.

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