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

Inheritance diagram for aligator::CentroidalMomentumDerivativeDataTpl< Scalar >:

Collaboration diagram for aligator::CentroidalMomentumDerivativeDataTpl< Scalar >:

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

template<typename Scalar>

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

Definition at line 54 of file centroidal-momentum-derivative.hpp.

◆ 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 )