Inheritance diagram for aligator::CenterOfMassTranslationDataTpl< Scalar >:

Collaboration diagram for aligator::CenterOfMassTranslationDataTpl< Scalar >:

Public Types
using	Base = StageFunctionDataTpl<Scalar>

using	PinData = pinocchio::DataTpl<Scalar>

Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using	Scalar = _Scalar

Public Member Functions
	CenterOfMassTranslationDataTpl (const CenterOfMassTranslationResidualTpl< Scalar > *model)

Public Member Functions inherited from aligator::StageFunctionDataTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionDataTpl (const int ndx, const int nu, const int nr)
	Default constructor.

	StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model)

virtual	~StageFunctionDataTpl ()=default

Public Attributes
PinData	pin_data_
	Pinocchio data object.

Public Attributes inherited from aligator::StageFunctionDataTpl< Scalar >
const int	ndx1

const int	nu

const int	nr

const int	nvar = ndx1 + nu
	Total number of variables.

VectorXs	value_
	Function value.

VectorRef	valref_

MatrixXs	jac_buffer_
	Full Jacobian.

MatrixXs	vhp_buffer_
	Vector-Hessian product buffer.

MatrixRef	Jx_
	Jacobian with respect to \(x\).

MatrixRef	Ju_
	Jacobian with respect to \(u\).

MatrixRef	Hxx_

MatrixRef	Hxu_

MatrixRef	Huu_