Public Types | |
| typedef ResidualDataAbstractTpl< Scalar > | Base |
| typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::Matrix6xs | Matrix6xs |
| 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> | |
| ResidualDataCentroidalMomentumTpl (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 | |
| Matrix6xs | dhd_dq |
| Jacobian of the centroidal momentum. | |
| Matrix6xs | dhd_dv |
| Jacobian of the centroidal momentum. | |
| 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
struct crocoddyl::ResidualDataCentroidalMomentumTpl< _Scalar >
Definition at line 147 of file centroidal-momentum.hpp.
Member Typedef Documentation
◆ MathBase
| typedef MathBaseTpl<Scalar> MathBase |
Definition at line 152 of file centroidal-momentum.hpp.
◆ Base
| typedef ResidualDataAbstractTpl<Scalar> Base |
Definition at line 153 of file centroidal-momentum.hpp.
◆ DataCollectorAbstract
| typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 154 of file centroidal-momentum.hpp.
◆ Matrix6xs
| typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 155 of file centroidal-momentum.hpp.
Constructor & Destructor Documentation
◆ ResidualDataCentroidalMomentumTpl()
| inline |
Definition at line 158 of file centroidal-momentum.hpp.
Member Data Documentation
◆ Scalar
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 151 of file centroidal-momentum.hpp.
◆ pinocchio
| pinocchio::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 180 of file centroidal-momentum.hpp.
◆ dhd_dq
| Matrix6xs dhd_dq |
Jacobian of the centroidal momentum.
Definition at line 181 of file centroidal-momentum.hpp.
◆ dhd_dv
| Matrix6xs dhd_dv |
Jacobian of the centroidal momentum.
Definition at line 182 of file centroidal-momentum.hpp.
◆ r
| VectorXs r |
Residual vector.
Definition at line 277 of file residual-base.hpp.
◆ Ru
| MatrixXs Ru |
Jacobian of the residual vector with respect the control.
Definition at line 279 of file residual-base.hpp.
◆ Rx
| MatrixXs Rx |
Jacobian of the residual vector with respect the state.
Definition at line 278 of file residual-base.hpp.
◆ shared
| 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 files:
- /build/source/include/crocoddyl/multibody/fwd.hpp
- /build/source/include/crocoddyl/multibody/residuals/centroidal-momentum.hpp
