Template Struct DifferentialActionDataContactInvDynamicsTpl

• Defined in File contact-invdyn.hpp

Nested Relationships

Nested Types

• Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataActuation

• Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataContact

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar>
struct DifferentialActionDataContactInvDynamicsTpl : public crocoddyl::DifferentialActionDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef DifferentialActionDataAbstractTpl<Scalar> Base

typedef JointDataAbstractTpl<Scalar> JointDataAbstract

typedef DataCollectorJointActMultibodyInContactTpl<Scalar> DataCollectorJointActMultibodyInContact

typedef CostDataSumTpl<Scalar> CostDataSum

typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager

typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

typedef ContactItemTpl<Scalar> ContactItem

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~DifferentialActionDataContactInvDynamicsTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

pinocchio::DataTpl<Scalar> pinocchio

Pinocchio data.

DataCollectorJointActMultibodyInContact multibody

Multibody data.

std::shared_ptr<CostDataSum> costs

Costs data.

std::shared_ptr<ConstraintDataManager> constraints

Constraints data.

VectorXs tmp_xstatic

State point used for computing the quasi-static input.

VectorXs tmp_rstatic

Factorization used for computing the quasi-static input.

MatrixXs tmp_Jstatic

Jacobian used for computing the quasi-static input.

Scalar cost

cost value

MatrixXs Fu

Jacobian of the dynamics w.r.t. the control \(\mathbf{u}\).

MatrixXs Fx

Jacobian of the dynamics w.r.t. the state \(\mathbf{x}\).

VectorXs Lu

Jacobian of the cost w.r.t. the control \(\mathbf{u}\).

MatrixXs Luu

Hessian of the cost w.r.t. the control \(\mathbf{u}\).

VectorXs Lx

Jacobian of the cost w.r.t. the state \(\mathbf{x}\).

MatrixXs Lxu

Hessian of the cost w.r.t. the state \(\mathbf{x}\) and control u

MatrixXs Lxx

Hessian of the cost w.r.t. the state \(\mathbf{x}\).

VectorXs r

Cost residual.

VectorXs xout

evolution state

struct ResidualDataActuation : public crocoddyl::ResidualDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef DataCollectorActMultibodyInContactTpl<Scalar> DataCollectorActMultibodyInContact

typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

typedef ContactDataMultipleTpl<Scalar> ContactDataMultiple

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~ResidualDataActuation() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

pinocchio::DataTpl<Scalar> *pinocchio

Pinocchio data.

std::shared_ptr<ActuationDataAbstract> actuation

Actuation data.

std::shared_ptr<ContactDataMultiple> contact

Contact data.

MatrixXs dtau_dx

MatrixXs dtau_du

VectorXs r

Residual vector.

MatrixXs Ru

Jacobian of the residual vector with respect the control.

MatrixXs Rx

Jacobian of the residual vector with respect the state.

DataCollectorAbstract *shared

Shared data allocated by the action model.

struct ResidualDataContact : public crocoddyl::ResidualDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef DataCollectorMultibodyInContactTpl<Scalar> DataCollectorMultibodyInContact

typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Public Functions

template<template<typename Scalar> class Model>
inline ResidualDataContact(Model<Scalar> *const model, DataCollectorAbstract *const data, const std::size_t id)

virtual ~ResidualDataContact() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

ContactDataAbstractTpl<Scalar> *contact

Contact force data.

VectorXs r

Residual vector.

MatrixXs Ru

Jacobian of the residual vector with respect the control.

MatrixXs Rx

Jacobian of the residual vector with respect the state.

DataCollectorAbstract *shared

Shared data allocated by the action model.