This residual returns the derivative of centroidal momentum for a kinodynamics model. More...

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

Inheritance diagram for aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >:

Collaboration diagram for aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = StageFunctionTpl<Scalar>

using	BaseData = typename Base::Data

using	Model = pinocchio::ModelTpl<Scalar>

using	SE3 = pinocchio::SE3Tpl<Scalar>

using	Data = CentroidalMomentumDerivativeDataTpl<Scalar>

Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar

using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	CentroidalMomentumDerivativeResidualTpl (const int ndx, const Model &model, const Vector3s &gravity, const std::vector< bool > &contact_states, const std::vector< pinocchio::FrameIndex > &contact_ids, const int force_size)

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &, BaseData &data) const

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &, BaseData &data) const

shared_ptr< BaseData >	createData () const
	Instantiate a Data object.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionTpl (const int ndx1, const int nu, const int ndx2, const int nr)

	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Evaluate the function.

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Compute Jacobians of this function.

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.

virtual	~StageFunctionTpl ()=default

Public Member Functions inherited from aligator::frame_api
pinocchio::FrameIndex	getFrameId () const

void	setFrameId (const std::size_t id)

Public Attributes
Model	pin_model_

double	mass_

Vector3s	gravity_

std::vector< bool >	contact_states_

std::vector< pinocchio::FrameIndex >	contact_ids_

int	force_size_

Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	ndx2
	Next state dimension.

const int	nr
	Function codimension.

Additional Inherited Members
Protected Attributes inherited from aligator::frame_api
pinocchio::FrameIndex	pin_frame_id_

Detailed Description

template<typename _Scalar>
struct aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >

This residual returns the derivative of centroidal momentum for a kinodynamics model.

Definition at line 19 of file centroidal-momentum-derivative.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

using aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::Scalar = _Scalar

Definition at line 22 of file centroidal-momentum-derivative.hpp.

◆ Base

template<typename _Scalar >

using aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 24 of file centroidal-momentum-derivative.hpp.

◆ BaseData

template<typename _Scalar >

using aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 25 of file centroidal-momentum-derivative.hpp.

◆ Model

template<typename _Scalar >

using aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar>

Definition at line 26 of file centroidal-momentum-derivative.hpp.

◆ SE3

template<typename _Scalar >

using aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::SE3 = pinocchio::SE3Tpl<Scalar>

Definition at line 27 of file centroidal-momentum-derivative.hpp.

◆ Data

template<typename _Scalar >

using aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::Data = CentroidalMomentumDerivativeDataTpl<Scalar>

Definition at line 28 of file centroidal-momentum-derivative.hpp.

Constructor & Destructor Documentation

◆ CentroidalMomentumDerivativeResidualTpl()

template<typename _Scalar >

aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::CentroidalMomentumDerivativeResidualTpl	(	const int	ndx,
		const Model &	model,
		const Vector3s &	gravity,
		const std::vector< bool > &	contact_states,
		const std::vector< pinocchio::FrameIndex > &	contact_ids,
		const int	force_size )

inline

Definition at line 37 of file centroidal-momentum-derivative.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ evaluate()

template<typename _Scalar >

void aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	,
		BaseData &	data ) const

◆ computeJacobians()

template<typename _Scalar >

void aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	,
		BaseData &	data ) const