Template Class ActivationModelNumDiffTpl

Defined in File activation.hpp

Inheritance Relationships

Base Type

public crocoddyl::ActivationModelAbstractTpl< _Scalar > (Template Class ActivationModelAbstractTpl)

Class Documentation

template<typename _Scalar> class ActivationModelNumDiffTpl : public crocoddyl::ActivationModelAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ActivationModelAbstractTpl<Scalar> Base

typedef ActivationDataNumDiffTpl<Scalar> Data

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

explicit ActivationModelNumDiffTpl(std::shared_ptr<Base> model)

Construct a new ActivationModelNumDiff object.

Parameters:: model –

virtual ~ActivationModelNumDiffTpl(): Destroy the ActivationModelNumDiff object.

virtual void calc(const std::shared_ptr<ActivationDataAbstract> &data, const Eigen::Ref<const VectorXs> &r) override

virtual void calcDiff(const std::shared_ptr<ActivationDataAbstract> &data, const Eigen::Ref<const VectorXs> &r) override

virtual std::shared_ptr<ActivationDataAbstract> createData() override

Create a Data object from the given model.

Returns:: std::shared_ptr<ActivationDataAbstract>

template<typename NewScalar> ActivationModelNumDiffTpl<NewScalar> cast() const

const std::shared_ptr<Base> &get_model() const

Get the model_ object.

Returns:: Base&

const Scalar get_disturbance() const: Return the disturbance constant used in the numerical differentiation routine.

void set_disturbance(const Scalar disturbance): Modify the disturbance constant used in the numerical differentiation routine.

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar