aligator  0.9.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
Loading...
Searching...
No Matches
Public Types | Public Member Functions | Public Attributes | Protected Attributes | List of all members
aligator::CenterOfMassVelocityResidualTpl< _Scalar > Struct Template Reference

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

Inheritance diagram for aligator::CenterOfMassVelocityResidualTpl< _Scalar >:
[legend]
Collaboration diagram for aligator::CenterOfMassVelocityResidualTpl< _Scalar >:
[legend]

Public Types

using Scalar = _Scalar
 
using BaseData = typename Base::Data
 
using Model = pinocchio::ModelTpl<Scalar>
 
using SE3 = pinocchio::SE3Tpl<Scalar>
 
using Data = CenterOfMassVelocityDataTpl<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)
 
 CenterOfMassVelocityResidualTpl (const int ndx, const int nu, const Model &model, const Vector3s &frame_vel)
 
const Vector3s & getReference () const
 
void setReference (const Eigen::Ref< const Vector3s > &v_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 v_ref_
 
- Protected Attributes inherited from aligator::frame_api
pinocchio::FrameIndex pin_frame_id_
 

Detailed Description

template<typename _Scalar>
struct aligator::CenterOfMassVelocityResidualTpl< _Scalar >

Definition at line 13 of file center-of-mass-velocity.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >
using aligator::CenterOfMassVelocityResidualTpl< _Scalar >::Scalar = _Scalar

Definition at line 15 of file center-of-mass-velocity.hpp.

◆ BaseData

template<typename _Scalar >
using aligator::CenterOfMassVelocityResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 18 of file center-of-mass-velocity.hpp.

◆ Model

template<typename _Scalar >
using aligator::CenterOfMassVelocityResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar>

Definition at line 19 of file center-of-mass-velocity.hpp.

◆ SE3

template<typename _Scalar >
using aligator::CenterOfMassVelocityResidualTpl< _Scalar >::SE3 = pinocchio::SE3Tpl<Scalar>

Definition at line 20 of file center-of-mass-velocity.hpp.

◆ Data

template<typename _Scalar >
using aligator::CenterOfMassVelocityResidualTpl< _Scalar >::Data = CenterOfMassVelocityDataTpl<Scalar>

Definition at line 21 of file center-of-mass-velocity.hpp.

Constructor & Destructor Documentation

◆ CenterOfMassVelocityResidualTpl()

template<typename _Scalar >
aligator::CenterOfMassVelocityResidualTpl< _Scalar >::CenterOfMassVelocityResidualTpl ( const int ndx,
const int nu,
const Model & model,
const Vector3s & frame_vel )
inline

Definition at line 25 of file center-of-mass-velocity.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >
aligator::CenterOfMassVelocityResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()

template<typename _Scalar >
aligator::CenterOfMassVelocityResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE ( Scalar )

◆ getReference()

template<typename _Scalar >
const Vector3s & aligator::CenterOfMassVelocityResidualTpl< _Scalar >::getReference ( ) const
inline

Definition at line 29 of file center-of-mass-velocity.hpp.

◆ setReference()

template<typename _Scalar >
void aligator::CenterOfMassVelocityResidualTpl< _Scalar >::setReference ( const Eigen::Ref< const Vector3s > & v_new)
inline

Definition at line 30 of file center-of-mass-velocity.hpp.

◆ evaluate()

template<typename _Scalar >
void aligator::CenterOfMassVelocityResidualTpl< _Scalar >::evaluate ( const ConstVectorRef & x,
BaseData & data ) const
virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

◆ computeJacobians()

template<typename _Scalar >
void aligator::CenterOfMassVelocityResidualTpl< _Scalar >::computeJacobians ( const ConstVectorRef & x,
BaseData & data ) const
virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

◆ createData()

template<typename _Scalar >
shared_ptr< BaseData > aligator::CenterOfMassVelocityResidualTpl< _Scalar >::createData ( ) const
inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 36 of file center-of-mass-velocity.hpp.

Member Data Documentation

◆ pin_model_

template<typename _Scalar >
Model aligator::CenterOfMassVelocityResidualTpl< _Scalar >::pin_model_

Definition at line 23 of file center-of-mass-velocity.hpp.

◆ v_ref_

template<typename _Scalar >
Vector3s aligator::CenterOfMassVelocityResidualTpl< _Scalar >::v_ref_
protected

Definition at line 41 of file center-of-mass-velocity.hpp.

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