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aligator::CentroidalMomentumDataTpl< Scalar > Struct Template Reference
#include <aligator/modelling/multibody/centroidal-momentum.hpp>
Inheritance diagram for aligator::CentroidalMomentumDataTpl< Scalar >:
Collaboration diagram for aligator::CentroidalMomentumDataTpl< Scalar >:
Public Types | |
| using | Base = StageFunctionDataTpl<Scalar> |
| using | PinData = pinocchio::DataTpl<Scalar> |
| using | Matrix6Xs = typename math_types<Scalar>::Matrix6Xs |
 Public Types inherited from aligator::StageFunctionDataTpl< Scalar > | |
| using | Scalar |
| using | Scalar |
Public Member Functions | |
| CentroidalMomentumDataTpl (const CentroidalMomentumResidualTpl< 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. | |
| Matrix6Xs | dh_dq_ |
| Matrix6Xs | dhdot_dq_ |
| Matrix6Xs | dhdot_dv_ |
| Matrix6Xs | dhdot_da_ |
| 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::CentroidalMomentumDataTpl< Scalar >
struct aligator::CentroidalMomentumDataTpl< Scalar >
Definition at line 50 of file centroidal-momentum.hpp.
Member Typedef Documentation
◆ Base
template<typename Scalar>
| using aligator::CentroidalMomentumDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar> |
Definition at line 52 of file centroidal-momentum.hpp.
◆ PinData
template<typename Scalar>
| using aligator::CentroidalMomentumDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar> |
Definition at line 53 of file centroidal-momentum.hpp.
◆ Matrix6Xs
template<typename Scalar>
| using aligator::CentroidalMomentumDataTpl< Scalar >::Matrix6Xs = typename math_types<Scalar>::Matrix6Xs |
Definition at line 54 of file centroidal-momentum.hpp.
Constructor & Destructor Documentation
◆ CentroidalMomentumDataTpl()
template<typename Scalar>
| aligator::CentroidalMomentumDataTpl< Scalar >::CentroidalMomentumDataTpl | ( | const CentroidalMomentumResidualTpl< Scalar > * | model | ) |
Member Data Documentation
◆ pin_data_
template<typename Scalar>
| PinData aligator::CentroidalMomentumDataTpl< Scalar >::pin_data_ |
Pinocchio data object.
Definition at line 57 of file centroidal-momentum.hpp.
◆ dh_dq_
template<typename Scalar>
| Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dh_dq_ |
Definition at line 58 of file centroidal-momentum.hpp.
◆ dhdot_dq_
template<typename Scalar>
| Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_dq_ |
Definition at line 59 of file centroidal-momentum.hpp.
◆ dhdot_dv_
template<typename Scalar>
| Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_dv_ |
Definition at line 60 of file centroidal-momentum.hpp.
◆ dhdot_da_
template<typename Scalar>
| Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_da_ |
Definition at line 61 of file centroidal-momentum.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/multibody/centroidal-momentum.hpp
