This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \). More...

#include <aligator/modelling/centroidal/centroidal-friction-cone.hpp>

Inheritance diagram for aligator::CentroidalFrictionConeDataTpl< Scalar >:

Collaboration diagram for aligator::CentroidalFrictionConeDataTpl< Scalar >:

Public Types
using	Base = StageFunctionDataTpl<Scalar>

using	Matrix23s = Eigen::Matrix<Scalar, 2, 3>

Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using	Scalar = _Scalar

Public Member Functions
	CentroidalFrictionConeDataTpl (const CentroidalFrictionConeResidualTpl< Scalar > *model)

Public Member Functions inherited from aligator::StageFunctionDataTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionDataTpl (const int ndx, const int nu, const int nr)
	Default constructor.

	StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model)

virtual	~StageFunctionDataTpl ()=default

Public Attributes
Matrix23s	Jtemp_

Public Attributes inherited from aligator::StageFunctionDataTpl< Scalar >
const int	ndx1

const int	nu

const int	nr

const int	nvar = ndx1 + nu
	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::CentroidalFrictionConeDataTpl< Scalar >

This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \).

Considering an unilateral contact k exerting 3D force u, the residual returns a two-dimension array with first component equal to \( \epsilon - u_z \) (strictly positive normal force condition) and second component equal to * \( u_{x,y}^2 - \mu^2 * u_{z}^2 \) (non-slippage condition) with \( \epsilon \) small threshold and \( \mu \) friction coefficient.

Definition at line 52 of file centroidal-friction-cone.hpp.