aligator  0.15.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::CenterOfMassVelocityDataTpl< Scalar > Struct Template Reference

#include <aligator/modelling/multibody/center-of-mass-velocity.hpp>

Inheritance diagram for aligator::CenterOfMassVelocityDataTpl< Scalar >:
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Collaboration diagram for aligator::CenterOfMassVelocityDataTpl< Scalar >:
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Public Types

using Base = StageFunctionDataTpl<Scalar>
 
using PinData = pinocchio::DataTpl<Scalar>
 
- Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using Scalar
 
using Scalar
 

Public Member Functions

 CenterOfMassVelocityDataTpl (const CenterOfMassVelocityResidualTpl< Scalar > &model)
 
- Public Member Functions inherited from aligator::StageFunctionDataTpl< Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
ConstMatrixRef Jx () const
 
ConstMatrixRef Ju () const
 
MatrixRef Jx ()
 
MatrixRef Ju ()
 
 StageFunctionDataTpl (const int ndx, const int nu, const int nr)
 Default constructor.
 
 StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model)
 
virtual ~StageFunctionDataTpl ()=default
 
 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
ConstMatrixRef Jx () const
 
MatrixRef Jx ()
 
ConstMatrixRef Ju () const
 
MatrixRef Ju ()
 
 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.
 
math_types< Scalar >::Matrix3Xs fJf_
 Jacobian of the error.
 
- Public Attributes inherited from aligator::StageFunctionDataTpl< Scalar >
const int ndx1
 
const int nu
 
const int nr
 
const int nvar
 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_
 
const int ndx1
 
const int nu
 
const int nr
 
const int nvar
 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_
 

Detailed Description

template<typename Scalar>
struct aligator::CenterOfMassVelocityDataTpl< Scalar >

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

Member Typedef Documentation

◆ Base

Definition at line 49 of file center-of-mass-velocity.hpp.

◆ PinData

template<typename Scalar>
using aligator::CenterOfMassVelocityDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

Definition at line 50 of file center-of-mass-velocity.hpp.

Constructor & Destructor Documentation

◆ CenterOfMassVelocityDataTpl()

template<typename Scalar>
aligator::CenterOfMassVelocityDataTpl< Scalar >::CenterOfMassVelocityDataTpl ( const CenterOfMassVelocityResidualTpl< Scalar > & model)

Member Data Documentation

◆ pin_data_

template<typename Scalar>
PinData aligator::CenterOfMassVelocityDataTpl< Scalar >::pin_data_

Pinocchio data object.

Definition at line 53 of file center-of-mass-velocity.hpp.

◆ fJf_

template<typename Scalar>
math_types<Scalar>::Matrix3Xs aligator::CenterOfMassVelocityDataTpl< Scalar >::fJf_

Jacobian of the error.

Definition at line 55 of file center-of-mass-velocity.hpp.


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