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

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

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

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

Public Types
using	Base = ODEDataTpl<Scalar>
using	VectorXs = typename math_types<Scalar>::VectorXs
using	MatrixXs = typename math_types<Scalar>::MatrixXs
using	PinDataType = pinocchio::DataTpl<Scalar>

Public Member Functions
	MultibodyFreeFwdDataTpl (const MultibodyFreeFwdDynamicsTpl< Scalar > *cont_dyn)

Public Attributes
VectorXs	tau_
MatrixXs	dtau_dx_
MatrixXs	dtau_du_
PinDataType	pin_data_

Detailed Description

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

Definition at line 71 of file multibody-free-fwd.hpp.

Member Typedef Documentation

Base

template<typename Scalar >

using aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::Base = ODEDataTpl<Scalar>

Definition at line 72 of file multibody-free-fwd.hpp.

VectorXs

template<typename Scalar >

using aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::VectorXs = typename math_types<Scalar>::VectorXs

Definition at line 73 of file multibody-free-fwd.hpp.

MatrixXs

template<typename Scalar >

using aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::MatrixXs = typename math_types<Scalar>::MatrixXs

Definition at line 74 of file multibody-free-fwd.hpp.

PinDataType

template<typename Scalar >

using aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::PinDataType = pinocchio::DataTpl<Scalar>

Definition at line 75 of file multibody-free-fwd.hpp.

Constructor & Destructor Documentation

MultibodyFreeFwdDataTpl()

template<typename Scalar >

aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::MultibodyFreeFwdDataTpl

(

const MultibodyFreeFwdDynamicsTpl< Scalar > *

cont_dyn

)

Member Data Documentation

tau_

template<typename Scalar >

VectorXs aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::tau_

Definition at line 76 of file multibody-free-fwd.hpp.

dtau_dx_

template<typename Scalar >

MatrixXs aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::dtau_dx_

Definition at line 77 of file multibody-free-fwd.hpp.

dtau_du_

template<typename Scalar >

MatrixXs aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::dtau_du_

Definition at line 78 of file multibody-free-fwd.hpp.

pin_data_

template<typename Scalar >

PinDataType aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::pin_data_

Definition at line 79 of file multibody-free-fwd.hpp.

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

• include/aligator/modelling/dynamics/multibody-free-fwd.hpp