Template Struct ResidualDataImpulseCoMTpl

Defined in File impulse-com.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

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

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualDataAbstractTpl<Scalar> Base

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef StateMultibodyTpl<Scalar> StateMultibody

typedef MathBase::MatrixXs MatrixXs

typedef MathBase::Matrix3xs Matrix3xs

Public Functions

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

virtual ~ResidualDataImpulseCoMTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

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

std::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar>> impulses: Impulses data.

Matrix3xs dvc_dq: Jacobian of the CoM velocity.

MatrixXs ddv_dv: Jacobian of the CoM velocity.

pinocchio::DataTpl<Scalar> pinocchio_internal: Pinocchio data for internal computation.

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.