#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 = _Scalar

Public Member Functions
	CentroidalMomentumDerivativeDataTpl (const CentroidalMomentumDerivativeResidualTpl< 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.

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 = 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::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 )