Template Struct ActuationDataNumDiffTpl

Defined in File actuation.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ActuationDataNumDiffTpl : public crocoddyl::ActuationDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef ActuationDataAbstractTpl<Scalar> Base

Public Functions

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

Initialize the numdiff actuation data.

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

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Scalar x_norm: Norm of the state vector.

Scalar xh_jac: Disturbance value used for computing \( \ell_\mathbf{x} \).

Scalar uh_jac: Disturbance value used for computing \( \ell_\mathbf{u} \).

VectorXs dx: State disturbance.

VectorXs du: Control disturbance.

VectorXs xp: The integrated state from the disturbance on one DoF “\iline 179 \_form#91@_fakenl”

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

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

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

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

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

VectorXs tau: Generalized torques.