Template Struct ResidualDataControlGravTpl

Defined in File control-gravity.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> Base

typedef StateMultibodyTpl<Scalar> StateMultibody

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef pinocchio::DataTpl<Scalar> PinocchioData

Public Functions

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

virtual ~ResidualDataControlGravTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

PinocchioData pinocchio: Pinocchio data.

std::shared_ptr<ActuationDataAbstractTpl<Scalar>> actuation: Actuation data.

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.