Template Struct JointDataAbstractTpl

• Defined in File joint.hpp

Struct Documentation

template<typename _Scalar>
struct JointDataAbstractTpl

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef StateAbstractTpl<Scalar> StateAbstract

typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

inline JointDataAbstractTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation, const std::size_t nu)

Initialize a joint data structure containing generalized accelerations and joint efforts, and their derivatives.

Parameters:

• state – State description

• actuation – Actuation model

• nu – Dimension of control input

inline virtual ~JointDataAbstractTpl()

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

VectorXs tau

Joint efforts.

VectorXs a

Generalized joint acceleration.

MatrixXs dtau_dx

Partial derivatives of the joint efforts w.r.t. the state point

MatrixXs dtau_du

Partial derivatives of the joint efforts w.r.t. the control input

MatrixXs da_dx

Partial derivatives of the generalized joint accelerations w.r.t. the state point

MatrixXs da_du

Partial derivatives of the generalized joint accelerations w.r.t. the control input