Template Struct ActivationDataNumDiffTpl

Defined in File activation.hpp

Inheritance Relationships

Base Type

public crocoddyl::ActivationDataAbstractTpl< _Scalar > (Template Struct ActivationDataAbstractTpl)

Struct Documentation

template<typename _Scalar> struct ActivationDataNumDiffTpl : public crocoddyl::ActivationDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef ActivationDataAbstractTpl<Scalar> Base

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

Construct a new ActivationDataNumDiff object.

Template Parameters:: Model – is the type of the ActivationModel.
Parameters:: model – is the object to compute the numerical differentiation from.

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

VectorXs dr: disturbance: \( [\hdot \;\; disturbance \;\; \hdot] \)

VectorXs rp: The input + the disturbance on one DoF “\iline 135 \_form#93@_fakenl”

std::shared_ptr<Base> data_0: The data that contains the final results.

std::vector<std::shared_ptr<Base>> data_rp: The temporary data associated with the input variation.

std::vector<std::shared_ptr<Base>> data_r2p: The temporary data associated with the input variation.

MatrixXs Arr_