Template Struct ResidualDataCentroidalMomentumTpl

Defined in File centroidal-momentum.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ResidualDataCentroidalMomentumTpl : public crocoddyl::ResidualDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef MathBase::Matrix6xs Matrix6xs

Public Functions

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

virtual ~ResidualDataCentroidalMomentumTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

pinocchio::DataTpl<Scalar> *pinocchio: Pinocchio data.

Matrix6xs dhd_dq: Jacobian of the centroidal momentum.

Matrix6xs dhd_dv: Jacobian of the centroidal momentum.

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.