aligator::StateErrorResidualTpl< Scalar > Struct Template Reference

State error \(x \ominus x_\text{ref}\). More...

#include <aligator/modelling/state-error.hpp>

Inheritance diagram for aligator::StateErrorResidualTpl< Scalar >:

Collaboration diagram for aligator::StateErrorResidualTpl< Scalar >:

Public Types
using	Base = detail::StateOrControlErrorResidual<Scalar, 0>

Detailed Description

template<typename Scalar>
struct aligator::StateErrorResidualTpl< Scalar >

State error \(x \ominus x_\text{ref}\).

This can be used, by using the manifold neutral element as the reference, to define constraints on the state (e.g. joint position or velocity limits).

Definition at line 152 of file state-error.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

using aligator::StateErrorResidualTpl< Scalar >::Base = detail::StateOrControlErrorResidual<Scalar, 0>

Definition at line 153 of file state-error.hpp.

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The documentation for this struct was generated from the following file:

• include/aligator/modelling/state-error.hpp