typename math_types< Scalar >::MatrixXs MatrixXs
StageFunctionDataTpl< Scalar > Base
typename math_types< Scalar >::VectorXs VectorXs
MultibodyWrenchConeDataTpl(const MultibodyWrenchConeResidualTpl< Scalar > *model)
pinocchio::ProximalSettingsTpl< Scalar > settings
pinocchio::DataTpl< Scalar > PinData
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) RigidConstraintDataVector
RigidConstraintDataVector constraint_datas_
typename math_types< Scalar >::Matrix6Xs Matrix6Xs
This residual returns the derivative of centroidal momentum for a kinodynamics model.
StageFunctionTpl< Scalar > Base
ProxSettings prox_settings_
typename Base::Data BaseData
Eigen::Matrix< Scalar, 17, 6 > Acone_
RigidConstraintModelVector constraint_models_
shared_ptr< BaseData > createData() const
Instantiate a Data object.
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
pinocchio::SE3Tpl< Scalar > SE3
void evaluate(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
MultibodyWrenchConeResidualTpl(const int ndx, const Model &model, const MatrixXs &actuation, const RigidConstraintModelVector &constraint_models, const ProxSettings &prox_settings, const std::string &contact_name, const double mu, const double half_length, const double half_width)
MultibodyWrenchConeDataTpl< Scalar > Data
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData) RigidConstraintDataVector
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR( pinocchio::RigidConstraintModel) RigidConstraintModelVector
pinocchio::ProximalSettingsTpl< Scalar > ProxSettings
void computeJacobians(const ConstVectorRef &, const ConstVectorRef &, BaseData &data) const
pinocchio::ModelTpl< Scalar > Model