This residual returns the linear acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses. More...

#include <aligator/modelling/centroidal/centroidal-acceleration.hpp>

Inheritance diagram for aligator::CentroidalAccelerationResidualTpl< _Scalar >:

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Collaboration diagram for aligator::CentroidalAccelerationResidualTpl< _Scalar >:

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Public Types
using	Scalar = _Scalar

using	Base = StageFunctionTpl<Scalar>

using	BaseData = typename Base::Data

using	Data = CentroidalAccelerationDataTpl<Scalar>

using	ContactMap = ContactMapTpl<Scalar>

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

using	Data

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	CentroidalAccelerationResidualTpl (const int ndx, const int nu, const double mass, const Vector3s &gravity, const ContactMap &contact_map, const int force_size)

void	evaluate (const ConstVectorRef &, const ConstVectorRef &u, BaseData &data) const

void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &, BaseData &data) const

shared_ptr< BaseData >	createData () const
	Instantiate a Data object.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)

	StageFunctionTpl (const int ndx, const int nu, const int nr)

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const=0
	Evaluate the function.

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const=0
	Compute Jacobians of this function.

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.

virtual	~StageFunctionTpl ()=default

Public Attributes
ContactMap	contact_map_

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
size_t	nk_

double	mass_

Vector3s	gravity_

int	force_size_

Detailed Description

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

This residual returns the linear acceleration of a centroidal model with state \(x = (c, h, L) \), computed from the external forces and contact poses.

The cost is described by \(r(x,u) = g + \frac{1}{m} * \sum_{k \in K} u_k\) with \(K\) set of active contacts, \(g\) gravity, \(m\) model mass, and \(u_k\) 3D unilateral force for contact k. All contacts are considered as unilateral.

Definition at line 22 of file centroidal-acceleration.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

using aligator::CentroidalAccelerationResidualTpl< _Scalar >::Scalar = _Scalar

Definition at line 25 of file centroidal-acceleration.hpp.

◆ Base

template<typename _Scalar >

using aligator::CentroidalAccelerationResidualTpl< _Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 27 of file centroidal-acceleration.hpp.

◆ BaseData

template<typename _Scalar >

using aligator::CentroidalAccelerationResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 28 of file centroidal-acceleration.hpp.

◆ Data

template<typename _Scalar >

using aligator::CentroidalAccelerationResidualTpl< _Scalar >::Data = CentroidalAccelerationDataTpl<Scalar>

Definition at line 29 of file centroidal-acceleration.hpp.

◆ ContactMap

template<typename _Scalar >

using aligator::CentroidalAccelerationResidualTpl< _Scalar >::ContactMap = ContactMapTpl<Scalar>

Definition at line 30 of file centroidal-acceleration.hpp.

Constructor & Destructor Documentation

◆ CentroidalAccelerationResidualTpl()

template<typename _Scalar >

aligator::CentroidalAccelerationResidualTpl< _Scalar >::CentroidalAccelerationResidualTpl	(	const int	ndx,
		const int	nu,
		const double	mass,
		const Vector3s &	gravity,
		const ContactMap &	contact_map,
		const int	force_size )