Template Struct ResidualDataAbstractTpl

• Defined in File residual-base.hpp

Inheritance Relationships

Derived Types

• public crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation (Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataActuation)

• public crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataContact (Struct DifferentialActionDataContactInvDynamicsTpl::ResidualDataContact)

• public crocoddyl::DifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuation (Struct DifferentialActionDataFreeInvDynamicsTpl::ResidualDataActuation)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Struct Documentation

template<typename _Scalar>
struct ResidualDataAbstractTpl

Subclassed by crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataActuation, crocoddyl::DifferentialActionDataContactInvDynamicsTpl< _Scalar >::ResidualDataContact, crocoddyl::DifferentialActionDataFreeInvDynamicsTpl< _Scalar >::ResidualDataActuation, crocoddyl::ResidualDataCentroidalMomentumTpl< _Scalar >, crocoddyl::ResidualDataCoMPositionTpl< _Scalar >, crocoddyl::ResidualDataContactCoPPositionTpl< _Scalar >, crocoddyl::ResidualDataContactControlGravTpl< _Scalar >, crocoddyl::ResidualDataContactForceTpl< _Scalar >, crocoddyl::ResidualDataContactFrictionConeTpl< _Scalar >, crocoddyl::ResidualDataContactWrenchConeTpl< _Scalar >, crocoddyl::ResidualDataControlGravTpl< _Scalar >, crocoddyl::ResidualDataFramePlacementTpl< _Scalar >, crocoddyl::ResidualDataFrameRotationTpl< _Scalar >, crocoddyl::ResidualDataFrameTranslationTpl< _Scalar >, crocoddyl::ResidualDataFrameVelocityTpl< _Scalar >, crocoddyl::ResidualDataImpulseCoMTpl< _Scalar >, crocoddyl::ResidualDataJointAccelerationTpl< _Scalar >, crocoddyl::ResidualDataJointEffortTpl< _Scalar >, crocoddyl::ResidualDataNumDiffTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~ResidualDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

DataCollectorAbstract *shared

Shared data allocated by the action model.

VectorXs r

Residual vector.

MatrixXs Rx

Jacobian of the residual vector with respect the state.

MatrixXs Ru

Jacobian of the residual vector with respect the control.

MatrixXs Arr_Rx

MatrixXs Arr_Ru