Template Class SquashingModelAbstractTpl

• Defined in File squashing-base.hpp

Inheritance Relationships

Base Type

• public crocoddyl::SquashingModelBase (Class SquashingModelBase)

Derived Type

• public crocoddyl::SquashingModelSmoothSatTpl< _Scalar > (Template Class SquashingModelSmoothSatTpl)

Class Documentation

template<typename _Scalar>
class SquashingModelAbstractTpl : public crocoddyl::SquashingModelBase

Subclassed by crocoddyl::SquashingModelSmoothSatTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract

typedef MathBase::VectorXs VectorXs

Public Functions

inline SquashingModelAbstractTpl(const std::size_t ns)

virtual ~SquashingModelAbstractTpl() = default

virtual void calc(const std::shared_ptr<SquashingDataAbstract> &data, const Eigen::Ref<const VectorXs> &s) = 0

virtual void calcDiff(const std::shared_ptr<SquashingDataAbstract> &data, const Eigen::Ref<const VectorXs> &s) = 0

inline virtual std::shared_ptr<SquashingDataAbstract> createData()

inline virtual void print(std::ostream &os) const

Print relevant information of the squashing model.

Parameters:

os – [out] Output stream object

inline std::size_t get_ns() const

inline const VectorXs &get_s_lb() const

inline const VectorXs &get_s_ub() const

inline void set_s_lb(const VectorXs &s_lb)

inline void set_s_ub(const VectorXs &s_ub)

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Functions

inline SquashingModelAbstractTpl()

Protected Attributes

std::size_t ns_

VectorXs u_ub_

VectorXs u_lb_

VectorXs s_ub_

VectorXs s_lb_

Friends

template<class Scalar>
friend std::ostream &operator<<(std::ostream &os, const SquashingModelAbstractTpl<Scalar> &model)

Print information on the actuation model.