aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::CentroidalMomentumDerivativeDataTpl< Scalar > Struct Template Reference

#include <aligator/modelling/multibody/centroidal-momentum-derivative.hpp>

Inheritance diagram for aligator::CentroidalMomentumDerivativeDataTpl< Scalar >:
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Collaboration diagram for aligator::CentroidalMomentumDerivativeDataTpl< Scalar >:
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Public Types

using Base = StageFunctionDataTpl<Scalar>
 
using PinData = pinocchio::DataTpl<Scalar>
 
using Matrix3Xs = typename math_types<Scalar>::Matrix3Xs
 
using Matrix6Xs = typename math_types<Scalar>::Matrix6Xs
 
using Matrix3s = Eigen::Matrix<Scalar, 3, 3>
 
- Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using Scalar
 
using Scalar
 

Public Member Functions

 CentroidalMomentumDerivativeDataTpl (const CentroidalMomentumDerivativeResidualTpl< 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.
 
Matrix3s Jtemp_
 
Matrix3Xs temp_
 
Matrix6Xs fJf_
 
- 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::CentroidalMomentumDerivativeDataTpl< Scalar >

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

Member Typedef Documentation

◆ Base

◆ PinData

template<typename Scalar>
using aligator::CentroidalMomentumDerivativeDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

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

◆ Matrix3Xs

template<typename Scalar>
using aligator::CentroidalMomentumDerivativeDataTpl< Scalar >::Matrix3Xs = typename math_types<Scalar>::Matrix3Xs

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

◆ Matrix6Xs

template<typename Scalar>
using aligator::CentroidalMomentumDerivativeDataTpl< Scalar >::Matrix6Xs = typename math_types<Scalar>::Matrix6Xs

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

◆ Matrix3s

template<typename Scalar>
using aligator::CentroidalMomentumDerivativeDataTpl< Scalar >::Matrix3s = Eigen::Matrix<Scalar, 3, 3>

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

Constructor & Destructor Documentation

◆ CentroidalMomentumDerivativeDataTpl()

template<typename Scalar>
aligator::CentroidalMomentumDerivativeDataTpl< Scalar >::CentroidalMomentumDerivativeDataTpl ( const CentroidalMomentumDerivativeResidualTpl< Scalar > * model)

Member Data Documentation

◆ pin_data_

Pinocchio data object.

Definition at line 61 of file centroidal-momentum-derivative.hpp.

◆ Jtemp_

◆ temp_

◆ fJf_


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