Template Struct ConstraintDataManagerTpl

• Defined in File constraint-manager.hpp

Struct Documentation

template<typename _Scalar>
struct ConstraintDataManagerTpl

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef ConstraintItemTpl<Scalar> ConstraintItem

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

template<class ActionData>
inline void shareMemory(ActionData *const data)

template<class Model>
inline void resize(Model *const model, const bool running_node = true)

template<class ActionModel, class ActionData>
inline void resize(ActionModel *const model, ActionData *const data, const bool running_node = true)

inline VectorXs get_g() const

inline MatrixXs get_Gx() const

inline MatrixXs get_Gu() const

inline VectorXs get_h() const

inline MatrixXs get_Hx() const

inline MatrixXs get_Hu() const

inline void set_g(const VectorXs &_g)

inline void set_Gx(const MatrixXs &_Gx)

inline void set_Gu(const MatrixXs &_Gu)

inline void set_h(const VectorXs &_h)

inline void set_Hx(const MatrixXs &_Hx)

inline void set_Hu(const MatrixXs &_Hu)

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

VectorXs g_internal

MatrixXs Gx_internal

MatrixXs Gu_internal

VectorXs h_internal

MatrixXs Hx_internal

MatrixXs Hu_internal

ConstraintModelManagerTpl<Scalar>::ConstraintDataContainer constraints

DataCollectorAbstract *shared

Eigen::Map<VectorXs> g

Eigen::Map<MatrixXs> Gx

Eigen::Map<MatrixXs> Gu

Eigen::Map<VectorXs> h

Eigen::Map<MatrixXs> Hx

Eigen::Map<MatrixXs> Hu