Public Types | |
| typedef ResidualDataAbstractTpl< Scalar > | Base |
| typedef ContactModelMultipleTpl< Scalar > | ContactModelMultiple |
| typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
| typedef pinocchio::ForceTpl< Scalar > | Force |
| typedef ImpulseModelMultipleTpl< Scalar > | ImpulseModelMultiple |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::MatrixXs | MatrixXs |
| typedef StateMultibodyTpl< Scalar > | StateMultibody |
| 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> | |
| ResidualDataContactForceTpl (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< ForceDataAbstractTpl< Scalar > > | contact |
| Contact force data. | |
| ContactType | contact_type |
| Type of contact (3D / 6D) | |
| 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::ResidualDataContactForceTpl< _Scalar >
Definition at line 247 of file contact-force.hpp.
Member Typedef Documentation
◆ MathBase
| typedef MathBaseTpl<Scalar> MathBase |
Definition at line 251 of file contact-force.hpp.
◆ Base
| typedef ResidualDataAbstractTpl<Scalar> Base |
Definition at line 252 of file contact-force.hpp.
◆ DataCollectorAbstract
| typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 253 of file contact-force.hpp.
◆ ContactModelMultiple
| typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple |
Definition at line 254 of file contact-force.hpp.
◆ ImpulseModelMultiple
| typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple |
Definition at line 255 of file contact-force.hpp.
◆ Force
| typedef pinocchio::ForceTpl<Scalar> Force |
Definition at line 256 of file contact-force.hpp.
◆ StateMultibody
| typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 257 of file contact-force.hpp.
◆ MatrixXs
| typedef MathBase::MatrixXs MatrixXs |
Definition at line 258 of file contact-force.hpp.
Constructor & Destructor Documentation
◆ ResidualDataContactForceTpl()
| inline |
Definition at line 261 of file contact-force.hpp.
Member Data Documentation
◆ Scalar
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 250 of file contact-force.hpp.
◆ contact
| std::shared_ptr<ForceDataAbstractTpl<Scalar> > contact |
Contact force data.
Definition at line 359 of file contact-force.hpp.
◆ contact_type
| ContactType contact_type |
Type of contact (3D / 6D)
Definition at line 360 of file contact-force.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/contact-force.hpp
