Template Struct ContactDataNumDiffTpl

Defined in File contact.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ContactDataNumDiffTpl : public crocoddyl::ContactDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ContactDataAbstractTpl<Scalar> Base

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Public Functions

template<template<typename Scalar> class Model> inline explicit ContactDataNumDiffTpl(Model<Scalar> *const model, pinocchio::DataTpl<Scalar> *const data)

inline virtual ~ContactDataNumDiffTpl()

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 \( \ell_\mathbf{x} \).

VectorXs dx: State disturbance.

VectorXs xp: The integrated state from the disturbance on one DoF “\iline 167 \_form#91@_fakenl”.

std::shared_ptr<Base> data_0: The data at the approximation point.

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