Template Struct ConstraintDataAbstractTpl

• Defined in File constraint-base.hpp

Inheritance Relationships

Derived Types

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

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

Struct Documentation

template<typename _Scalar>
struct ConstraintDataAbstractTpl

Subclassed by crocoddyl::ConstraintDataNumDiffTpl< _Scalar >, crocoddyl::ConstraintDataResidualTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

template<template<typename Scalar> class Model>
inline ConstraintDataAbstractTpl(Model<Scalar> *const model, DataCollectorAbstract *const data)

virtual ~ConstraintDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

DataCollectorAbstract *shared

Shared data.

std::shared_ptr<ResidualDataAbstract> residual

Residual data.

VectorXs g

Inequality constraint values.

MatrixXs Gx

Jacobian of the inequality constraint.

MatrixXs Gu

Jacobian of the inequality constraint.

VectorXs h

Equality constraint values.

MatrixXs Hx

Jacobian of the equality constraint.

MatrixXs Hu

Jacobian of the equality constraint.