aligator::AngularAccelerationResidualTpl< _Scalar > Struct Template Reference

This residual returns the angular acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses. More...

#include <aligator/modelling/centroidal/angular-acceleration.hpp>

Inheritance diagram for aligator::AngularAccelerationResidualTpl< _Scalar >:

Collaboration diagram for aligator::AngularAccelerationResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = StageFunctionTpl<Scalar>
using	BaseData = typename Base::Data
using	Data = AngularAccelerationDataTpl<Scalar>
using	ContactMap = ContactMapTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar
using	Data

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	AngularAccelerationResidualTpl (const int ndx, const int nu, const double mass, const Vector3s &gravity, const ContactMap &contact_map, const int force_size)
void	evaluate (const ConstVectorRef &, const ConstVectorRef &u, BaseData &data) const
void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &, BaseData &data) const
shared_ptr< BaseData >	createData () const
	Instantiate a Data object.
Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const=0
	Evaluate the function.
virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const=0
	Compute Jacobians of this function.
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default

Public Attributes
ContactMap	contact_map_
Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.

Protected Attributes
size_t	nk_
double	mass_
Vector3s	gravity_
int	force_size_

Detailed Description

template<typename _Scalar>
struct aligator::AngularAccelerationResidualTpl< _Scalar >

This residual returns the angular acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses.

The cost is described by \(r(x,u) = \sum_{k \in K} (p_k - c) \times u_k\) with \(K\) set of active contacts, \(p_k\) contact pose k, \(c\) Center of Mass, and \(u_k\) 3D unilateral force for contact k. All contacts are considered as unilateral.

Definition at line 22 of file angular-acceleration.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

using aligator::AngularAccelerationResidualTpl< _Scalar >::Scalar = _Scalar

Definition at line 25 of file angular-acceleration.hpp.

Base

template<typename _Scalar >

using aligator::AngularAccelerationResidualTpl< _Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 27 of file angular-acceleration.hpp.

BaseData

template<typename _Scalar >

using aligator::AngularAccelerationResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 28 of file angular-acceleration.hpp.

Data

template<typename _Scalar >

using aligator::AngularAccelerationResidualTpl< _Scalar >::Data = AngularAccelerationDataTpl<Scalar>

Definition at line 29 of file angular-acceleration.hpp.

ContactMap

template<typename _Scalar >

using aligator::AngularAccelerationResidualTpl< _Scalar >::ContactMap = ContactMapTpl<Scalar>

Definition at line 30 of file angular-acceleration.hpp.

Constructor & Destructor Documentation

AngularAccelerationResidualTpl()

template<typename _Scalar >

aligator::AngularAccelerationResidualTpl< _Scalar >::AngularAccelerationResidualTpl ( const int ndx, const int nu, const double mass, const Vector3s & gravity, const ContactMap & contact_map, const int force_size )

inline

Definition at line 32 of file angular-acceleration.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::AngularAccelerationResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar >

void aligator::AngularAccelerationResidualTpl< _Scalar >::evaluate	(	const ConstVectorRef &	,
		const ConstVectorRef &	u,
		BaseData &	data ) const

computeJacobians()

template<typename _Scalar >

void aligator::AngularAccelerationResidualTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	,
		const ConstVectorRef &	,
		BaseData &	data ) const

createData()

template<typename _Scalar >

shared_ptr< BaseData > aligator::AngularAccelerationResidualTpl< _Scalar >::createData ( ) const

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 53 of file angular-acceleration.hpp.

Member Data Documentation

contact_map_

template<typename _Scalar >

ContactMap aligator::AngularAccelerationResidualTpl< _Scalar >::contact_map_

Definition at line 57 of file angular-acceleration.hpp.

nk_

template<typename _Scalar >

size_t aligator::AngularAccelerationResidualTpl< _Scalar >::nk_

protected

Definition at line 60 of file angular-acceleration.hpp.

mass_

template<typename _Scalar >

double aligator::AngularAccelerationResidualTpl< _Scalar >::mass_

protected

Definition at line 61 of file angular-acceleration.hpp.

gravity_

template<typename _Scalar >

Vector3s aligator::AngularAccelerationResidualTpl< _Scalar >::gravity_

protected

Definition at line 62 of file angular-acceleration.hpp.

force_size_

template<typename _Scalar >

int aligator::AngularAccelerationResidualTpl< _Scalar >::force_size_

protected

Definition at line 63 of file angular-acceleration.hpp.

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The documentation for this struct was generated from the following file:

• include/aligator/modelling/centroidal/angular-acceleration.hpp