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aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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#include <aligator/modelling/multibody/contact-force.hpp>
Public Types | |
| using | Base = StageFunctionDataTpl<Scalar> |
| using | PinData = pinocchio::DataTpl<Scalar> |
| using | VectorXs = typename math_types<Scalar>::VectorXs |
| using | MatrixXs = typename math_types<Scalar>::MatrixXs |
| using | RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar> |
Public Types inherited from aligator::StageFunctionDataTpl< Scalar > | |
| using | Scalar |
| using | Scalar |
Public Member Functions | |
| ContactForceDataTpl (const ContactForceResidualTpl< 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. | |
| VectorXs | tau_ |
| constraint_datas_ | |
| pinocchio::ProximalSettingsTpl< Scalar > | settings |
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_ |
Definition at line 87 of file contact-force.hpp.
| using aligator::ContactForceDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar> |
Definition at line 89 of file contact-force.hpp.
| using aligator::ContactForceDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar> |
Definition at line 90 of file contact-force.hpp.
| using aligator::ContactForceDataTpl< Scalar >::VectorXs = typename math_types<Scalar>::VectorXs |
Definition at line 91 of file contact-force.hpp.
| using aligator::ContactForceDataTpl< Scalar >::MatrixXs = typename math_types<Scalar>::MatrixXs |
Definition at line 92 of file contact-force.hpp.
| using aligator::ContactForceDataTpl< Scalar >::RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar> |
Definition at line 93 of file contact-force.hpp.
| aligator::ContactForceDataTpl< Scalar >::ContactForceDataTpl | ( | const ContactForceResidualTpl< Scalar > * | model | ) |
| PinData aligator::ContactForceDataTpl< Scalar >::pin_data_ |
Pinocchio data object.
Definition at line 96 of file contact-force.hpp.
| VectorXs aligator::ContactForceDataTpl< Scalar >::tau_ |
Definition at line 97 of file contact-force.hpp.
| aligator::ContactForceDataTpl< Scalar >::constraint_datas_ |
Definition at line 100 of file contact-force.hpp.
| pinocchio::ProximalSettingsTpl<Scalar> aligator::ContactForceDataTpl< Scalar >::settings |
Definition at line 101 of file contact-force.hpp.