6#include <pinocchio/multibody/model.hpp>
7#include <pinocchio/multibody/data.hpp>
8#include <pinocchio/multibody/frame.hpp>
12template <
typename Scalar>
struct FrameVelocityDataTpl;
14template <
typename _Scalar>
17 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 using Model = pinocchio::ModelTpl<Scalar>;
24 using SE3 = pinocchio::SE3Tpl<Scalar>;
25 using Motion = pinocchio::MotionTpl<Scalar>;
26 using Data = FrameVelocityDataTpl<Scalar>;
31 const shared_ptr<Model> &model,
33 const pinocchio::FrameIndex
id,
34 const pinocchio::ReferenceFrame type);
43 return allocate_shared_eigen_aligned<Data>(*
this);
48 pinocchio::ReferenceFrame
type_;
51template <
typename Scalar>
53 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
54 using Base = StageFunctionDataTpl<Scalar>;
55 using Motion = pinocchio::MotionTpl<Scalar>;
65#include "aligator/modelling/multibody/frame-velocity.hxx"
67#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
68#include "./frame-velocity.txx"
pinocchio::MotionTpl< Scalar > Motion
pinocchio::DataTpl< Scalar > pin_data_
Pinocchio data object.
FrameVelocityDataTpl(const FrameVelocityResidualTpl< Scalar > &model)
shared_ptr< BaseData > createData() const
Instantiate a Data object.
pinocchio::SE3Tpl< Scalar > SE3
void evaluate(const ConstVectorRef &x, BaseData &data) const
shared_ptr< ManifoldAbstractTpl< Scalar > > ManifoldPtr
const Motion & getReference() const
void setReference(const Motion &v_new)
shared_ptr< Model > pin_model_
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
pinocchio::MotionTpl< Scalar > Motion
FrameVelocityResidualTpl(const int ndx, const int nu, const shared_ptr< Model > &model, const Motion &velocity, const pinocchio::FrameIndex id, const pinocchio::ReferenceFrame type)
pinocchio::ModelTpl< Scalar > Model
void computeJacobians(const ConstVectorRef &x, BaseData &data) const
typename Base::Data BaseData
ALIGATOR_UNARY_FUNCTION_INTERFACE(Scalar)
pinocchio::ReferenceFrame type_
FrameVelocityDataTpl< Scalar > Data
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.