Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataContact

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 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.