aligator::CenterOfMassVelocityResidualTpl< _Scalar > Struct Template Reference

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

Inheritance diagram for aligator::CenterOfMassVelocityResidualTpl< _Scalar >:

Collaboration diagram for aligator::CenterOfMassVelocityResidualTpl< _Scalar >:

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:

• include/aligator/modelling/multibody/center-of-mass-velocity.hpp