Template Struct ImpulseDataAbstractTpl

Defined in File impulse-base.hpp

Inheritance Relationships

Base Type

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

Derived Types

public crocoddyl::ImpulseData3DTpl< _Scalar > (Template Struct ImpulseData3DTpl)
public crocoddyl::ImpulseData6DTpl< _Scalar > (Template Struct ImpulseData6DTpl)

Struct Documentation

template<typename _Scalar> struct ImpulseDataAbstractTpl : public crocoddyl::ForceDataAbstractTpl<_Scalar>

Subclassed by crocoddyl::ImpulseData3DTpl< _Scalar >, crocoddyl::ImpulseData6DTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ForceDataAbstractTpl<Scalar> Base

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

typedef pinocchio::SE3Tpl<Scalar> SE3

Public Functions

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

virtual ~ImpulseDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

SE3::ActionMatrixType fXj

MatrixXs dv0_dq

MatrixXs dtau_dq