Template Struct ConstraintDataResidualTpl

Defined in File residual.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ConstraintDataResidualTpl : public crocoddyl::ConstraintDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ConstraintDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Public Functions

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

virtual ~ConstraintDataResidualTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

VectorXs g: Inequality constraint values.

MatrixXs Gu: Jacobian of the inequality constraint.

MatrixXs Gx: Jacobian of the inequality constraint.

VectorXs h: Equality constraint values.

MatrixXs Hu: Jacobian of the equality constraint.

MatrixXs Hx: Jacobian of the equality constraint.

std::shared_ptr<ResidualDataAbstract> residual: Residual data.

DataCollectorAbstract *shared: Shared data.