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TaskDataJointPositionTpl< _Scalar > Struct Template Reference

Cached values and derivatives for the joint-position task. More...

#include <joint-position.hpp>

Inheritance diagram for TaskDataJointPositionTpl< _Scalar >:
TaskDataAbstractTpl< _Scalar >

Public Types

typedef TaskDataAbstractTpl< Scalar > Base
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs
Public Types inherited from TaskDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef TaskModelAbstractTpl< Scalar > TaskModelAbstract
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 TaskDataJointPositionTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 Bind the task data to the available generalized-acceleration data.
Public Member Functions inherited from TaskDataAbstractTpl< _Scalar >
 TaskDataAbstractTpl (TaskModelAbstract *const model, DataCollectorAbstract *const data)
 Allocate and initialize the common task data.

Public Attributes

VectorXs dx
 State difference [configuration; velocity].
MatrixXs Jdiff
 Jacobian of the state difference w.r.t. current state.
std::shared_ptr< JointDataAbstractTpl< Scalar > > joint
 Shared generalized-acceleration data.
pinocchio::DataTpl< Scalar > * pinocchio
 Optional shared Pinocchio acceleration data.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared action-model data collector.
Public Attributes inherited from TaskDataAbstractTpl< _Scalar >
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::TaskDataJointPositionTpl< _Scalar >

Cached values and derivatives for the joint-position task.

Definition at line 137 of file joint-position.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 141 of file joint-position.hpp.

◆ Base

template<typename _Scalar>
typedef TaskDataAbstractTpl<Scalar> Base

Definition at line 142 of file joint-position.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 143 of file joint-position.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 144 of file joint-position.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 145 of file joint-position.hpp.

Constructor & Destructor Documentation

◆ TaskDataJointPositionTpl()

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

Bind the task data to the available generalized-acceleration data.

Parameters
[in]modelJoint-position task model
[in]dataShared data optionally derived from DataCollectorJointTpl and/or DataCollectorMultibodyTpl

Definition at line 155 of file joint-position.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 140 of file joint-position.hpp.

◆ pinocchio

template<typename _Scalar>
pinocchio::DataTpl<Scalar>* pinocchio

Optional shared Pinocchio acceleration data.

Definition at line 179 of file joint-position.hpp.

◆ joint

template<typename _Scalar>
std::shared_ptr<JointDataAbstractTpl<Scalar> > joint

Shared generalized-acceleration data.

Definition at line 181 of file joint-position.hpp.

◆ dx

template<typename _Scalar>
VectorXs dx

State difference [configuration; velocity].

Definition at line 182 of file joint-position.hpp.

◆ Jdiff

template<typename _Scalar>
MatrixXs Jdiff

Jacobian of the state difference w.r.t. current state.

Definition at line 183 of file joint-position.hpp.

◆ shared

template<typename _Scalar>
DataCollectorAbstract* shared

Shared action-model data collector.

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

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