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 shared_ptr< 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 &, const ConstVectorRef &, Data &data) const override
	Evaluate the function.

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
	Compute Jacobians of this function.

void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, 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 ndx1, const int nu, const int ndx2, const int nr)

	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.

virtual	~StageFunctionTpl ()=default

Public Member Functions inherited from aligator::frame_api
pinocchio::FrameIndex	getFrameId () const

void	setFrameId (const std::size_t id)

Public Attributes
shared_ptr< Model >	pin_model_

Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	ndx2
	Next state 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 >

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 >

aligator::CenterOfMassTranslationResidualTpl< _Scalar >::CenterOfMassTranslationResidualTpl	(	const int	ndx,
		const int	nu,
		const shared_ptr< Model > &	model,
		const Vector3s &	frame_trans )

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 >

const Vector3s & aligator::CenterOfMassTranslationResidualTpl< _Scalar >::getReference ( ) const

inline

Definition at line 40 of file center-of-mass-translation.hpp.

◆ setReference()

template<typename _Scalar >

void aligator::CenterOfMassTranslationResidualTpl< _Scalar >::setReference ( const Eigen::Ref< const Vector3s > & p_new )

inline

Definition at line 41 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 >

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

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 47 of file center-of-mass-translation.hpp.

Member Data Documentation

◆ pin_model_

template<typename _Scalar >

shared_ptr<Model> aligator::CenterOfMassTranslationResidualTpl< _Scalar >::pin_model_

Definition at line 33 of file center-of-mass-translation.hpp.

◆ p_ref_

template<typename _Scalar >

Vector3s aligator::CenterOfMassTranslationResidualTpl< _Scalar >::p_ref_

protected

Definition at line 52 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

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ BaseData

◆ Model

◆ SE3

◆ Data

Constructor & Destructor Documentation

◆ CenterOfMassTranslationResidualTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()

◆ getReference()

◆ setReference()

◆ evaluate()

◆ computeJacobians()

◆ createData()

Member Data Documentation

◆ pin_model_

◆ p_ref_