6#include <pinocchio/multibody/model.hpp>
7#include <pinocchio/multibody/frame.hpp>
11template <
typename Scalar>
struct FrameTranslationDataTpl;
13template <
typename _Scalar>
15 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
20 using Model = pinocchio::ModelTpl<Scalar>;
22 using SE3 = pinocchio::SE3Tpl<Scalar>;
23 using Data = FrameTranslationDataTpl<Scalar>;
28 const shared_ptr<Model> &model,
29 const Vector3s &frame_trans,
30 const pinocchio::FrameIndex frame_id);
40 return allocate_shared_eigen_aligned<Data>(*
this);
47template <
typename Scalar>
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
50 using Base = StageFunctionDataTpl<Scalar>;
51 using PinData = pinocchio::DataTpl<Scalar>;
57 typename math_types<Scalar>::Matrix6Xs
fJf_;
64#include "aligator/modelling/multibody/frame-translation.hxx"
66#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
67#include "./frame-translation.txx"
PinData pin_data_
Pinocchio data object.
FrameTranslationDataTpl(const FrameTranslationResidualTpl< Scalar > &model)
pinocchio::DataTpl< Scalar > PinData
math_types< Scalar >::Matrix6Xs fJf_
Jacobian of the error, local frame.
shared_ptr< Model > pin_model_
ALIGATOR_UNARY_FUNCTION_INTERFACE(Scalar)
void evaluate(const ConstVectorRef &x, BaseData &data) const
shared_ptr< ManifoldAbstractTpl< Scalar > > ManifoldPtr
shared_ptr< BaseData > createData() const
Instantiate a Data object.
pinocchio::ModelTpl< Scalar > Model
FrameTranslationDataTpl< Scalar > Data
const Vector3s & getReference() const
FrameTranslationResidualTpl(const int ndx, const int nu, const shared_ptr< Model > &model, const Vector3s &frame_trans, const pinocchio::FrameIndex frame_id)
pinocchio::SE3Tpl< Scalar > SE3
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
void computeJacobians(const ConstVectorRef &x, BaseData &data) const
void setReference(const Eigen::Ref< const Vector3s > &p_new)
typename Base::Data BaseData
Base struct for function data.
const int nu
Control dimension.
StageFunctionDataTpl< Scalar > Data
Represents unary functions of the form , with no control (or next-state) arguments.