Template Struct ResidualDataContactForceTpl

Defined in File contact-force.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple

typedef pinocchio::ForceTpl<Scalar> Force

typedef StateMultibodyTpl<Scalar> StateMultibody

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

virtual ~ResidualDataContactForceTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

std::shared_ptr<ForceDataAbstractTpl<Scalar>> contact: Contact force data.

ContactType contact_type: Type of contact (3D / 6D)

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.