Template Struct ActuationSquashingDataTpl

Defined in File actuation-squashing.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef ActuationDataAbstractTpl<Scalar> Base

typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~ActuationSquashingDataTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

std::shared_ptr<SquashingDataAbstract> squashing

std::shared_ptr<Base> actuation

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

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

VectorXs tau: Generalized torques.

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

VectorXs u: Joint torques.