- 3.0.2 models module.
Public Types | Public Member Functions | List of all members
ct::models::HyA::HyAInverseDynJacForward Class Reference

#include <HyAInverseDynJacForward.h>

Inheritance diagram for ct::models::HyA::HyAInverseDynJacForward:
ct::core::Derivatives< 12, 6, double >

Public Types

typedef Eigen::Matrix< double, 6, 12 > JAC_TYPE
 
typedef Eigen::Matrix< double, 12, 1 > X_TYPE
 
- Public Types inherited from ct::core::Derivatives< 12, 6, double >
typedef Eigen::Matrix< double, 12, 1 > IN_TYPE
 
typedef Eigen::Matrix< double, 6, 1 > OUT_TYPE
 
typedef Eigen::Matrix< double, 6, 12 > JAC_TYPE
 
typedef Eigen::Matrix< double, 12, 12 > HES_TYPE
 

Public Member Functions

 HyAInverseDynJacForward ()
 
 HyAInverseDynJacForward (const HyAInverseDynJacForward &other)
 
virtual ~HyAInverseDynJacForward ()
 
HyAInverseDynJacForward * clone () const override
 
JAC_TYPE jacobian (const Eigen::VectorXd &x_in) override
 
- Public Member Functions inherited from ct::core::Derivatives< 12, 6, double >
 Derivatives ()
 
virtual ~Derivatives ()
 
virtual OUT_TYPE forwardZero (const Eigen::VectorXd &x)
 
virtual void sparseJacobian (const Eigen::VectorXd &x, Eigen::VectorXd &jac, Eigen::VectorXi &iRow, Eigen::VectorXi &jCol)
 
virtual Eigen::VectorXd sparseJacobianValues (const Eigen::VectorXd &x)
 
virtual HES_TYPE hessian (const Eigen::VectorXd &x, const Eigen::VectorXd &lambda)
 
virtual void sparseHessian (const Eigen::VectorXd &x, const Eigen::VectorXd &lambda, Eigen::VectorXd &hes, Eigen::VectorXi &iRow, Eigen::VectorXi &jCol)
 
virtual Eigen::VectorXd sparseHessianValues (const Eigen::VectorXd &x, const Eigen::VectorXd &lambda)
 

Member Typedef Documentation

◆ JAC_TYPE

typedef Eigen::Matrix<double, 6, 12> ct::models::HyA::HyAInverseDynJacForward::JAC_TYPE

◆ X_TYPE

typedef Eigen::Matrix<double, 12, 1> ct::models::HyA::HyAInverseDynJacForward::X_TYPE

Constructor & Destructor Documentation

◆ HyAInverseDynJacForward() [1/2]

ct::models::HyA::HyAInverseDynJacForward::HyAInverseDynJacForward ( )
inline

Referenced by clone().

◆ HyAInverseDynJacForward() [2/2]

ct::models::HyA::HyAInverseDynJacForward::HyAInverseDynJacForward ( const HyAInverseDynJacForward &  other)
inline

◆ ~HyAInverseDynJacForward()

virtual ct::models::HyA::HyAInverseDynJacForward::~HyAInverseDynJacForward ( )
inlinevirtual

Member Function Documentation

◆ clone()

HyAInverseDynJacForward* ct::models::HyA::HyAInverseDynJacForward::clone ( ) const
inlineoverridevirtual

Implements ct::core::Derivatives< 12, 6, double >.

References HyAInverseDynJacForward(), and jacobian().

◆ jacobian()

HyAInverseDynJacForward::JAC_TYPE ct::models::HyA::HyAInverseDynJacForward::jacobian ( const Eigen::VectorXd &  x_in)
overridevirtual

Reimplemented from ct::core::Derivatives< 12, 6, double >.

Referenced by clone(), and timingInverseDynamics().

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