aligator::dynamics::CentroidalFwdDataTpl< Scalar > Struct Template Reference

#include <aligator/modelling/dynamics/centroidal-fwd.hpp>

Inheritance diagram for aligator::dynamics::CentroidalFwdDataTpl< Scalar >:

Collaboration diagram for aligator::dynamics::CentroidalFwdDataTpl< Scalar >:

Public Types
using	Base = ContinuousDynamicsDataTpl<Scalar>
using	Matrix3s = Eigen::Matrix<Scalar, 3, 3>
Public Types inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
using	Scalar = _Scalar

Public Member Functions
	CentroidalFwdDataTpl (const CentroidalFwdDynamicsTpl< Scalar > *cont_dyn)
Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ContinuousDynamicsDataTpl (const int ndx, const int nu)
virtual	~ContinuousDynamicsDataTpl ()=default

Public Attributes
Matrix3s	Jtemp_
Public Attributes inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
VectorXs	value_
	Residual value \(e = f(x,u,\dot{x})\).
MatrixXs	Jx_
	Derivative \(\partial f/{\partial x}\).
MatrixXs	Ju_
	Derivative \(\partial f/{\partial u}\).
MatrixXs	Jxdot_
	Derivative \(\partial f/\partial\dot{x}\).
VectorXs	xdot_
	Time derivative \(\dot{x} = f(x, u)\), output of ODE model.

Detailed Description

template<typename Scalar>
struct aligator::dynamics::CentroidalFwdDataTpl< Scalar >

Definition at line 28 of file fwd.hpp.

Member Typedef Documentation

Base

template<typename Scalar >

using aligator::dynamics::CentroidalFwdDataTpl< Scalar >::Base = ContinuousDynamicsDataTpl<Scalar>

Definition at line 61 of file centroidal-fwd.hpp.

Matrix3s

template<typename Scalar >

using aligator::dynamics::CentroidalFwdDataTpl< Scalar >::Matrix3s = Eigen::Matrix<Scalar, 3, 3>

Definition at line 62 of file centroidal-fwd.hpp.

Constructor & Destructor Documentation

CentroidalFwdDataTpl()

template<typename Scalar >

aligator::dynamics::CentroidalFwdDataTpl< Scalar >::CentroidalFwdDataTpl

(

const CentroidalFwdDynamicsTpl< Scalar > *

cont_dyn

)

Member Data Documentation

Jtemp_

template<typename Scalar >

Matrix3s aligator::dynamics::CentroidalFwdDataTpl< Scalar >::Jtemp_

Definition at line 64 of file centroidal-fwd.hpp.

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

• include/aligator/modelling/dynamics/centroidal-fwd.hpp
• include/aligator/modelling/dynamics/continuous-centroidal-fwd.hpp
• include/aligator/modelling/dynamics/fwd.hpp