Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataActuation

Defined in File contact-invdyn.hpp

Nested Relationships

This struct is a nested type of Template Struct DifferentialActionDataContactInvDynamicsTpl.

Inheritance Relationships

Base Type

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

Struct Documentation

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.