tr::data::Data< Scalar, nq > Struct Template Reference

A data struct for storing results of various model algorithms. More...

#include <Data.hpp>

Public Member Functions
template<typename NewScalar >
Data< NewScalar, nq >	cast ()
	Casts the data to a new scalar type.

Public Attributes
Eigen::Matrix< Scalar, nq, 1 >	q
	Joint configuration.
Eigen::Matrix< Scalar, nq, 1 >	dq
	Joint velocity.
Eigen::Matrix< Scalar, nq, 1 >	ddq
	Joint acceleration.
Eigen::Matrix< Scalar, nq, 1 >	p
	Joint Momentum.
Eigen::Matrix< Scalar, nq, 1 >	tau
	Joint torque.
Eigen::Matrix< Scalar, nq, nq >	M = Eigen::Matrix<Scalar, nq, nq>::Zero()
	Mass matrix.
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >	Mr
Eigen::Matrix< Scalar, nq, nq >	Minv = Eigen::Matrix<Scalar, nq, nq>::Zero()
	Inverse mass matrix.
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >	Mrinv
Eigen::Matrix< Scalar, nq, nq >	C = Eigen::Matrix<Scalar, nq, nq>::Zero()
	Coriolis matrix.
Eigen::Matrix< Scalar, nq, 1 >	g
	Gravity torque vector.
Eigen::Matrix< Scalar, nq, nq >	Gp = Eigen::Matrix<Scalar, nq, nq>::Identity()
	Input mapping matrix.
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >	Gr
Eigen::Matrix< Scalar, nq, nq >	Dp = Eigen::Matrix<Scalar, nq, nq>::Zero()
	Damping matrix.
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >	Dr
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >	Jc
	Constraint jacobian.
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >	Jcp
	Constraint jacobian left annihilator.
Scalar	T = 0
	The kinetic co-energy.
Scalar	V = 0
	The potential energy.
Scalar	H = 0
	The hamiltonian (total energy).
Eigen::Matrix< Scalar, nq+nq, 1 >	dx_dt
	The dynamics dx_dt.
std::vector< Eigen::Transform< Scalar, 3, Eigen::Isometry > >	FK = {}
	Vector of forward kinematics Data.
int	nr = 0
	Number of reduced momentum states.
int	nz = 0
	Vector of redundant momentum states.

Detailed Description

template<typename Scalar, int nq>
struct tr::data::Data< Scalar, nq >

A data struct for storing results of various model algorithms.

Template Parameters

Scalar	Scalar type of the associated model.
nq	Number of configuration coordinates (number of degrees of freedom)

Member Function Documentation

cast()

template<typename Scalar , int nq>

template<typename NewScalar >

Data< NewScalar, nq > tr::data::Data< Scalar, nq >::cast ( )

inline

Casts the data to a new scalar type.

Template Parameters

NewScalar

scalar type to cast the data to.

Returns

Data with new scalar type.

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

• include/Data.hpp