aligator 0.19.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::context Namespace Reference

Typedefs

using Scalar = double
using Manifold = ManifoldAbstractTpl<Scalar>
using VectorSpace = VectorSpaceTpl<Scalar, Eigen::Dynamic>
using StageFunction = StageFunctionTpl<Scalar>
using UnaryFunction = UnaryFunctionTpl<Scalar>
using StageFunctionData = StageFunctionDataTpl<Scalar>
using ConstraintSet = ConstraintSetTpl<Scalar>
using CostAbstract = CostAbstractTpl<Scalar>
using CostData = CostDataAbstractTpl<Scalar>
using DynamicsModel = DynamicsModelTpl<Scalar>
using DynamicsData = DynamicsDataTpl<Scalar>
using StageModel = StageModelTpl<Scalar>
using StageData = StageDataTpl<Scalar>
using CallbackBase = CallbackBaseTpl<Scalar>
using TrajOptProblem = TrajOptProblemTpl<Scalar>
using TrajOptData = TrajOptDataTpl<Scalar>
using ConstraintStack = ConstraintStackTpl<Scalar>
using ExplicitDynamics = ExplicitDynamicsModelTpl<Scalar>
using ExplicitDynamicsData = ExplicitDynamicsDataTpl<Scalar>
using SolverProxDDP = SolverProxDDPTpl<Scalar>
using SolverFDDP = SolverFDDPTpl<Scalar>
using Workspace = WorkspaceTpl<Scalar>
using Results = ResultsTpl<Scalar>
using Filter = FilterTpl<Scalar>
using ContinuousDynamicsAbstract
using ContinuousDynamicsData = dynamics::ContinuousDynamicsDataTpl<Scalar>
using ODEAbstract = dynamics::ODEAbstractTpl<Scalar>
using ODEData = dynamics::ContinuousDynamicsDataTpl<Scalar>
using IntegratorAbstract = dynamics::IntegratorAbstractTpl<Scalar>
using IntegratorData = dynamics::IntegratorDataTpl<Scalar>
using ExplicitIntegratorAbstract
using ExplicitIntegratorData = dynamics::ExplicitIntegratorDataTpl<Scalar>
using PinModel = pinocchio::ModelTpl<Scalar, Options>
using PinData = pinocchio::DataTpl<Scalar, Options>
using RCM = pinocchio::RigidConstraintModelTpl<Scalar, Options>
using RCD = pinocchio::RigidConstraintDataTpl<Scalar, Options>
using RCMVector = PINOCCHIO_ALIGNED_STD_VECTOR(RCM)
using RCDVector = PINOCCHIO_ALIGNED_STD_VECTOR(RCD)
using MultibodyConfiguration = MultibodyConfiguration<Scalar>
using MultibodyPhaseSpace = MultibodyPhaseSpace<Scalar>

Functions

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

Variables

static constexpr int Options = 0

Typedef Documentation

◆ Scalar

using aligator::context::Scalar = double

Definition at line 9 of file context.hpp.

◆ Manifold

using aligator::context::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 14 of file context.hpp.

◆ VectorSpace

using aligator::context::VectorSpace = VectorSpaceTpl<Scalar, Eigen::Dynamic>

Definition at line 15 of file context.hpp.

◆ StageFunction

using aligator::context::StageFunction = StageFunctionTpl<Scalar>

Definition at line 17 of file context.hpp.

◆ UnaryFunction

using aligator::context::UnaryFunction = UnaryFunctionTpl<Scalar>

Definition at line 18 of file context.hpp.

◆ StageFunctionData

using aligator::context::StageFunctionData = StageFunctionDataTpl<Scalar>

Definition at line 19 of file context.hpp.

◆ ConstraintSet

using aligator::context::ConstraintSet = ConstraintSetTpl<Scalar>

Definition at line 21 of file context.hpp.

◆ CostAbstract

using aligator::context::CostAbstract = CostAbstractTpl<Scalar>

Definition at line 25 of file context.hpp.

◆ CostData

using aligator::context::CostData = CostDataAbstractTpl<Scalar>

Definition at line 26 of file context.hpp.

◆ DynamicsModel

using aligator::context::DynamicsModel = DynamicsModelTpl<Scalar>

Definition at line 27 of file context.hpp.

◆ DynamicsData

using aligator::context::DynamicsData = DynamicsDataTpl<Scalar>

Definition at line 28 of file context.hpp.

◆ StageModel

using aligator::context::StageModel = StageModelTpl<Scalar>

Definition at line 29 of file context.hpp.

◆ StageData

using aligator::context::StageData = StageDataTpl<Scalar>

Definition at line 30 of file context.hpp.

◆ CallbackBase

using aligator::context::CallbackBase = CallbackBaseTpl<Scalar>

Definition at line 32 of file context.hpp.

◆ TrajOptProblem

using aligator::context::TrajOptProblem = TrajOptProblemTpl<Scalar>

Definition at line 34 of file context.hpp.

◆ TrajOptData

using aligator::context::TrajOptData = TrajOptDataTpl<Scalar>

Definition at line 35 of file context.hpp.

◆ ConstraintStack

using aligator::context::ConstraintStack = ConstraintStackTpl<Scalar>

Definition at line 36 of file context.hpp.

◆ ExplicitDynamics

using aligator::context::ExplicitDynamics = ExplicitDynamicsModelTpl<Scalar>

Definition at line 38 of file context.hpp.

◆ ExplicitDynamicsData

using aligator::context::ExplicitDynamicsData = ExplicitDynamicsDataTpl<Scalar>

Definition at line 39 of file context.hpp.

◆ SolverProxDDP

using aligator::context::SolverProxDDP = SolverProxDDPTpl<Scalar>

Definition at line 41 of file context.hpp.

◆ SolverFDDP

using aligator::context::SolverFDDP = SolverFDDPTpl<Scalar>

Definition at line 42 of file context.hpp.

◆ Workspace

using aligator::context::Workspace = WorkspaceTpl<Scalar>

Definition at line 44 of file context.hpp.

◆ Results

using aligator::context::Results = ResultsTpl<Scalar>

Definition at line 45 of file context.hpp.

◆ Filter

using aligator::context::Filter = FilterTpl<Scalar>

Definition at line 46 of file context.hpp.

◆ ContinuousDynamicsAbstract

using aligator::context::ContinuousDynamicsAbstract
Initial value:
dynamics::ContinuousDynamicsAbstractTpl<Scalar>
aligator::dynamics::ContinuousDynamicsAbstractTpl
Continuous dynamics described by differential-algebraic equations (DAEs) .
Definition continuous-dynamics-abstract.hpp:19

Definition at line 60 of file fwd.hpp.

◆ ContinuousDynamicsData

using aligator::context::ContinuousDynamicsData = dynamics::ContinuousDynamicsDataTpl<Scalar>

Definition at line 62 of file fwd.hpp.

◆ ODEAbstract

using aligator::context::ODEAbstract = dynamics::ODEAbstractTpl<Scalar>

Definition at line 64 of file fwd.hpp.

◆ ODEData

using aligator::context::ODEData = dynamics::ContinuousDynamicsDataTpl<Scalar>

Definition at line 65 of file fwd.hpp.

◆ IntegratorAbstract

using aligator::context::IntegratorAbstract = dynamics::IntegratorAbstractTpl<Scalar>

Definition at line 67 of file fwd.hpp.

◆ IntegratorData

using aligator::context::IntegratorData = dynamics::IntegratorDataTpl<Scalar>

Definition at line 68 of file fwd.hpp.

◆ ExplicitIntegratorAbstract

using aligator::context::ExplicitIntegratorAbstract
Initial value:
dynamics::ExplicitIntegratorAbstractTpl<Scalar>

Definition at line 70 of file fwd.hpp.

◆ ExplicitIntegratorData

using aligator::context::ExplicitIntegratorData = dynamics::ExplicitIntegratorDataTpl<Scalar>

Definition at line 72 of file fwd.hpp.

◆ PinModel

using aligator::context::PinModel = pinocchio::ModelTpl<Scalar, Options>

Definition at line 21 of file fwd.hpp.

◆ PinData

using aligator::context::PinData = pinocchio::DataTpl<Scalar, Options>

Definition at line 22 of file fwd.hpp.

◆ RCM

using aligator::context::RCM = pinocchio::RigidConstraintModelTpl<Scalar, Options>

Definition at line 24 of file fwd.hpp.

◆ RCD

using aligator::context::RCD = pinocchio::RigidConstraintDataTpl<Scalar, Options>

Definition at line 25 of file fwd.hpp.

◆ RCMVector

using aligator::context::RCMVector = PINOCCHIO_ALIGNED_STD_VECTOR(RCM)

Definition at line 26 of file fwd.hpp.

◆ RCDVector

using aligator::context::RCDVector = PINOCCHIO_ALIGNED_STD_VECTOR(RCD)

Definition at line 27 of file fwd.hpp.

◆ MultibodyConfiguration

using aligator::context::MultibodyConfiguration = MultibodyConfiguration<Scalar>

Definition at line 28 of file fwd.hpp.

◆ MultibodyPhaseSpace

using aligator::context::MultibodyPhaseSpace = MultibodyPhaseSpace<Scalar>

Definition at line 29 of file fwd.hpp.

Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

aligator::context::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

Variable Documentation

◆ Options

int aligator::context::Options = 0
staticconstexpr

Definition at line 10 of file context.hpp.