Template Struct ControlParametrizationDataPolyOneTpl

• Defined in File poly-one.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar>
struct ControlParametrizationDataPolyOneTpl : public crocoddyl::ControlParametrizationDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ControlParametrizationDataAbstractTpl<Scalar> Base

typedef MathBase::Vector2s Vector2s

Public Functions

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

virtual ~ControlParametrizationDataPolyOneTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Vector2s c

Coefficients of the linear control that depends on time.

MatrixXs dw_du

Jacobian of the differential control with respect to the parameters

VectorXs u

value of the control parameters

VectorXs w

value of the differential control