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 = _Scalar

Public Member Functions
	CentroidalMomentumDataTpl (const CentroidalMomentumResidualTpl< 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
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 = 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::CentroidalMomentumDataTpl< Scalar >

Definition at line 48 of file centroidal-momentum.hpp.

Member Typedef Documentation

Base

template<typename Scalar >

using aligator::CentroidalMomentumDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar>

Definition at line 50 of file centroidal-momentum.hpp.

PinData

template<typename Scalar >

using aligator::CentroidalMomentumDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

Definition at line 51 of file centroidal-momentum.hpp.

Matrix6Xs

template<typename Scalar >

using aligator::CentroidalMomentumDataTpl< Scalar >::Matrix6Xs = typename math_types<Scalar>::Matrix6Xs

Definition at line 52 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 55 of file centroidal-momentum.hpp.

dh_dq_

template<typename Scalar >

Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dh_dq_

Definition at line 56 of file centroidal-momentum.hpp.

dhdot_dq_

template<typename Scalar >

Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_dq_

Definition at line 57 of file centroidal-momentum.hpp.

dhdot_dv_

template<typename Scalar >

Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_dv_

Definition at line 58 of file centroidal-momentum.hpp.

dhdot_da_

template<typename Scalar >

Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_da_

Definition at line 59 of file centroidal-momentum.hpp.

---

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

• include/aligator/modelling/multibody/centroidal-momentum.hpp