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

using	Base

using	Data

Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar

using	Data

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)

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override

virtual void	computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const

void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override

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 >

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 Model &	model,
		const Vector3s &	frame_trans )