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TaskDataAbstractTpl< _Scalar > Struct Template Reference

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

#include <task-base.hpp>

Inheritance diagram for TaskDataAbstractTpl< _Scalar >:
TaskDataCentroidalMomentumTpl< _Scalar >TaskDataCoMPositionTpl< _Scalar >TaskDataFramePlacementTpl< _Scalar >TaskDataFrameRotationTpl< _Scalar >TaskDataFrameTranslationTpl< _Scalar >TaskDataJointPositionTpl< _Scalar >

Public Types

typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef TaskModelAbstractTpl< Scalar > TaskModelAbstract
typedef MathBase::VectorXs VectorXs

Public Member Functions

 TaskDataAbstractTpl (TaskModelAbstract *const model, DataCollectorAbstract *const data)
 Allocate and initialize the common task data.

Public Attributes

VectorXs a
 Task acceleration $a(x,u)=\ddot{y}(x,u)$.
MatrixXs Au
 Jacobian $\partial a/\partial u$.
MatrixXs Ax
 Jacobian $\partial a/\partial x$.
bool compute_acceleration
 Request computation of task acceleration.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared action-model data collector.
VectorXs v
 Task rate $v(x,u)=\dot{y}(x,u)$.
MatrixXs Vu
 Jacobian $\partial v/\partial u$.
MatrixXs Vx
 Jacobian $\partial v/\partial x$.
VectorXs y
 Task quantity $y(x,u)$.
MatrixXs Yu
 Jacobian $\partial y/\partial u$.
MatrixXs Yx
 Jacobian $\partial y/\partial x$.

Detailed Description

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

Preallocated values and derivatives produced by a task model.

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

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

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

◆ TaskModelAbstract

template<typename _Scalar>
typedef TaskModelAbstractTpl<Scalar> TaskModelAbstract

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

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

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

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

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

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 134 of file task-base.hpp.

Constructor & Destructor Documentation

◆ TaskDataAbstractTpl()

template<typename _Scalar>
TaskDataAbstractTpl(TaskModelAbstract *constmodel,
DataCollectorAbstract *constdata )
inline

Allocate and initialize the common task data.

The acceleration-computation request is initialized from the model's acceleration capability.

Parameters
[in]modelTask model
[in]dataShared action-model data collector

Definition at line 145 of file task-base.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

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

◆ shared

template<typename _Scalar>
DataCollectorAbstract* shared

Shared action-model data collector.

Definition at line 170 of file task-base.hpp.

◆ compute_acceleration

template<typename _Scalar>
bool compute_acceleration

Request computation of task acceleration.

Definition at line 171 of file task-base.hpp.

◆ y

template<typename _Scalar>
VectorXs y

Task quantity $y(x,u)$.

Definition at line 173 of file task-base.hpp.

◆ v

template<typename _Scalar>
VectorXs v

Task rate $v(x,u)=\dot{y}(x,u)$.

Definition at line 174 of file task-base.hpp.

◆ a

template<typename _Scalar>
VectorXs a

Task acceleration $a(x,u)=\ddot{y}(x,u)$.

Definition at line 175 of file task-base.hpp.

◆ Yx

template<typename _Scalar>
MatrixXs Yx

Jacobian $\partial y/\partial x$.

Definition at line 177 of file task-base.hpp.

◆ Yu

template<typename _Scalar>
MatrixXs Yu

Jacobian $\partial y/\partial u$.

Definition at line 178 of file task-base.hpp.

◆ Vx

template<typename _Scalar>
MatrixXs Vx

Jacobian $\partial v/\partial x$.

Definition at line 179 of file task-base.hpp.

◆ Vu

template<typename _Scalar>
MatrixXs Vu

Jacobian $\partial v/\partial u$.

Definition at line 180 of file task-base.hpp.

◆ Ax

template<typename _Scalar>
MatrixXs Ax

Jacobian $\partial a/\partial x$.

Definition at line 181 of file task-base.hpp.

◆ Au

template<typename _Scalar>
MatrixXs Au

Jacobian $\partial a/\partial u$.

Definition at line 182 of file task-base.hpp.

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