aligator  0.15.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
Loading...
Searching...
No Matches
angular-acceleration.hpp
Go to the documentation of this file.
1#pragma once
2
5
6namespace aligator {
7
8template <typename Scalar> struct AngularAccelerationDataTpl;
9
20
21template <typename _Scalar>
23
24public:
25 using Scalar = _Scalar;
28 using BaseData = typename Base::Data;
31
32 AngularAccelerationResidualTpl(const int ndx, const int nu, const double mass,
33 const Vector3s &gravity,
34 const ContactMap &contact_map,
35 const int force_size)
36 : Base(ndx, nu, 3)
37 , contact_map_(contact_map)
38 , nk_(size_t(nu) / size_t(force_size))
39 , mass_(mass)
40 , gravity_(gravity)
41 , force_size_(force_size) {
42 if (contact_map.size_ != nk_) {
43 ALIGATOR_DOMAIN_ERROR(
44 "Contact ids and nk should be the same ({:d} and {:d}).",
45 contact_map.size_, nk_);
46 }
47 }
48
49 void evaluate(const ConstVectorRef &, const ConstVectorRef &u,
50 BaseData &data) const;
51
52 void computeJacobians(const ConstVectorRef &, const ConstVectorRef &,
53 BaseData &data) const;
54
55 shared_ptr<BaseData> createData() const {
56 return std::make_shared<Data>(this);
57 }
58
60
61protected:
62 size_t nk_;
63 double mass_;
64 Vector3s gravity_;
66};
67
68template <typename Scalar>
70 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
72 using Matrix3s = Eigen::Matrix<Scalar, 3, 3>;
73
75
78};
79
80} // namespace aligator
81
82#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
83#include "aligator/modelling/centroidal/angular-acceleration.txx"
84#endif
Base definitions for ternary functions.
Main package namespace.
AngularAccelerationDataTpl(const AngularAccelerationResidualTpl< Scalar > *model)
Eigen::Matrix< Scalar, 3, 3 > Matrix3s
StageFunctionDataTpl< Scalar > Base
This residual returns the angular acceleration of a centroidal model with state , computed from the e...
AngularAccelerationResidualTpl(const int ndx, const int nu, const double mass, const Vector3s &gravity, const ContactMap &contact_map, const int force_size)
shared_ptr< BaseData > createData() const
Instantiate a Data object.
void computeJacobians(const ConstVectorRef &, const ConstVectorRef &, BaseData &data) const
void evaluate(const ConstVectorRef &, const ConstVectorRef &u, BaseData &data) const
AngularAccelerationDataTpl< Scalar > Data
Contact map for centroidal costs and dynamics.
StageFunctionDataTpl(const int ndx, const int nu, const int nr)
const int nu
Control dimension.
StageFunctionDataTpl< Scalar > Data
StageFunctionTpl(const int ndx, const int nu, const int nr)