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aligator::CenterOfMassTranslationResidualTpl< _Scalar > Struct Template Reference
This residual returns the Center of Mass translation for a centroidal model with state \(x = (c, h, L) \). More...
#include <aligator/modelling/multibody/center-of-mass-translation.hpp>
Inheritance diagram for aligator::CenterOfMassTranslationResidualTpl< _Scalar >:
Collaboration diagram for aligator::CenterOfMassTranslationResidualTpl< _Scalar >:
Public Types | |
| using | Scalar = _Scalar |
| using | BaseData = typename Base::Data |
| using | Model = pinocchio::ModelTpl<Scalar> |
| using | SE3 = pinocchio::SE3Tpl<Scalar> |
| using | Data = CenterOfMassTranslationDataTpl<Scalar> |
 Public Types inherited from aligator::UnaryFunctionTpl< _Scalar > | |
| using | Scalar = _Scalar |
| using | Base = StageFunctionTpl<Scalar> |
| using | Data = StageFunctionDataTpl<Scalar> |
| Public Types inherited from aligator::StageFunctionTpl< _Scalar > | |
| using | Scalar = _Scalar |
| using | Data = StageFunctionDataTpl<Scalar> |
Public Member Functions | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| ALIGATOR_UNARY_FUNCTION_INTERFACE (Scalar) | |
| CenterOfMassTranslationResidualTpl (const int ndx, const int nu, const Model &model, const Vector3s &frame_trans) | |
| const Vector3s & | getReference () const |
| void | setReference (const Eigen::Ref< const Vector3s > &p_new) |
| void | evaluate (const ConstVectorRef &x, BaseData &data) const |
| void | computeJacobians (const ConstVectorRef &x, BaseData &data) const |
| shared_ptr< BaseData > | createData () const |
| Instantiate a Data object. | |
| Public Member Functions inherited from aligator::UnaryFunctionTpl< _Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| virtual void | evaluate (const ConstVectorRef &x, Data &data) const =0 |
| virtual void | computeJacobians (const ConstVectorRef &x, Data &data) const =0 |
| virtual void | computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const |
| void | evaluate (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override |
| Evaluate the function. | |
| void | computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override |
| Compute Jacobians of this function. | |
| void | computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override |
| Compute the vector-hessian products of this function. | |
| Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| StageFunctionTpl (const int ndx, const int nu, const int nr) | |
| virtual | ~StageFunctionTpl ()=default |
| Public Member Functions inherited from aligator::frame_api | |
| pinocchio::FrameIndex | getFrameId () const |
| void | setFrameId (const std::size_t id) |
Public Attributes | |
| Model | pin_model_ |
| 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 | |
| Vector3s | p_ref_ |
| Protected Attributes inherited from aligator::frame_api | |
| pinocchio::FrameIndex | pin_frame_id_ |
Detailed Description
template<typename _Scalar>
struct aligator::CenterOfMassTranslationResidualTpl< _Scalar >
struct aligator::CenterOfMassTranslationResidualTpl< _Scalar >
This residual returns the Center of Mass translation for a centroidal model with state \(x = (c, h, L) \).
The residual returns the first three components of the state: \(r(x) = c - c_r \) with \( c \) center of mass and \( c_r \) desired reference for center of mass.
Definition at line 22 of file center-of-mass-translation.hpp.
Member Typedef Documentation
◆ Scalar
template<typename _Scalar>
| using aligator::CenterOfMassTranslationResidualTpl< _Scalar >::Scalar = _Scalar |
Definition at line 25 of file center-of-mass-translation.hpp.
◆ BaseData
template<typename _Scalar>
| using aligator::CenterOfMassTranslationResidualTpl< _Scalar >::BaseData = typename Base::Data |
Definition at line 28 of file center-of-mass-translation.hpp.
◆ Model
template<typename _Scalar>
| using aligator::CenterOfMassTranslationResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar> |
Definition at line 29 of file center-of-mass-translation.hpp.
◆ SE3
template<typename _Scalar>
| using aligator::CenterOfMassTranslationResidualTpl< _Scalar >::SE3 = pinocchio::SE3Tpl<Scalar> |
Definition at line 30 of file center-of-mass-translation.hpp.
◆ Data
template<typename _Scalar>
| using aligator::CenterOfMassTranslationResidualTpl< _Scalar >::Data = CenterOfMassTranslationDataTpl<Scalar> |
Definition at line 31 of file center-of-mass-translation.hpp.
Constructor & Destructor Documentation
◆ CenterOfMassTranslationResidualTpl()
template<typename _Scalar>
|
inline |
Definition at line 35 of file center-of-mass-translation.hpp.
Member Function Documentation
◆ ALIGATOR_DYNAMIC_TYPEDEFS()
template<typename _Scalar>
| aligator::CenterOfMassTranslationResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()
template<typename _Scalar>
| aligator::CenterOfMassTranslationResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE | ( | Scalar | ) |
◆ getReference()
template<typename _Scalar>
|
inline |
Definition at line 42 of file center-of-mass-translation.hpp.
◆ setReference()
template<typename _Scalar>
|
inline |
Definition at line 43 of file center-of-mass-translation.hpp.
◆ evaluate()
template<typename _Scalar>
| void aligator::CenterOfMassTranslationResidualTpl< _Scalar >::evaluate | ( | const ConstVectorRef & | x, |
| BaseData & | data ) const |
◆ computeJacobians()
template<typename _Scalar>
| void aligator::CenterOfMassTranslationResidualTpl< _Scalar >::computeJacobians | ( | const ConstVectorRef & | x, |
| BaseData & | data ) const |
◆ createData()
template<typename _Scalar>
|
inlinevirtual |
Instantiate a Data object.
Reimplemented from aligator::StageFunctionTpl< _Scalar >.
Definition at line 49 of file center-of-mass-translation.hpp.
Member Data Documentation
◆ pin_model_
template<typename _Scalar>
| Model aligator::CenterOfMassTranslationResidualTpl< _Scalar >::pin_model_ |
Definition at line 33 of file center-of-mass-translation.hpp.
◆ p_ref_
template<typename _Scalar>
|
protected |
Definition at line 54 of file center-of-mass-translation.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/multibody/center-of-mass-translation.hpp
