Template Struct ActuationDataAbstractTpl

Defined in File actuation-base.hpp

Inheritance Relationships

Derived Types

public crocoddyl::ActuationDataNumDiffTpl< _Scalar > (Template Struct ActuationDataNumDiffTpl)
public crocoddyl::ActuationSquashingDataTpl< _Scalar > (Template Struct ActuationSquashingDataTpl)

Struct Documentation

template<typename _Scalar> struct ActuationDataAbstractTpl

Subclassed by crocoddyl::ActuationDataNumDiffTpl< _Scalar >, crocoddyl::ActuationSquashingDataTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~ActuationDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

VectorXs tau: Generalized torques.

VectorXs u: Joint torques.

MatrixXs dtau_dx: Partial derivatives of the actuation model w.r.t. the state point

MatrixXs dtau_du: Partial derivatives of the actuation model w.r.t. the joint torque input

MatrixXs Mtau: Torque transform from generalized torques to joint torque inputs

std::vector<bool> tau_set: True for joints that are actuacted.