Template Struct ActionDataImpulseFwdDynamicsTpl

• Defined in File impulse-fwddyn.hpp

Inheritance Relationships

Base Type

• public crocoddyl::ActionDataAbstractTpl< _Scalar > (Template Struct ActionDataAbstractTpl)

Struct Documentation

template<typename _Scalar>
struct ActionDataImpulseFwdDynamicsTpl : public crocoddyl::ActionDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ActionDataAbstractTpl<Scalar> Base

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

template<template<typename Scalar> class Model>
inline explicit ActionDataImpulseFwdDynamicsTpl(Model<Scalar> *const model)

virtual ~ActionDataImpulseFwdDynamicsTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

pinocchio::DataTpl<Scalar> pinocchio

DataCollectorMultibodyInImpulseTpl<Scalar> multibody

std::shared_ptr<CostDataSumTpl<Scalar>> costs

std::shared_ptr<ConstraintDataManagerTpl<Scalar>> constraints

VectorXs vnone

MatrixXs Kinv

MatrixXs df_dx

MatrixXs dgrav_dq