aligator::ContactForceDataTpl< Scalar > Struct Template Reference

#include <aligator/modelling/multibody/contact-force.hpp>

Inheritance diagram for aligator::ContactForceDataTpl< Scalar >:

Collaboration diagram for aligator::ContactForceDataTpl< Scalar >:

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	RigidConstraintDataVector
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)
	StageFunctionDataTpl (const int ndx, const int nu, const int nr)
	Default constructor.
	StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model)
virtual	~StageFunctionDataTpl ()=default
	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.
VectorXs	tau_
RigidConstraintDataVector	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_

Detailed Description

template<typename Scalar>
struct aligator::ContactForceDataTpl< Scalar >

Definition at line 86 of file contact-force.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

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

Definition at line 88 of file contact-force.hpp.

PinData

template<typename Scalar>

using aligator::ContactForceDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

Definition at line 89 of file contact-force.hpp.

VectorXs

template<typename Scalar>

using aligator::ContactForceDataTpl< Scalar >::VectorXs = typename math_types<Scalar>::VectorXs

Definition at line 90 of file contact-force.hpp.

MatrixXs

template<typename Scalar>

using aligator::ContactForceDataTpl< Scalar >::MatrixXs = typename math_types<Scalar>::MatrixXs

Definition at line 91 of file contact-force.hpp.

RigidConstraintDataVector

template<typename Scalar>

using aligator::ContactForceDataTpl< Scalar >::RigidConstraintDataVector

Initial value:

 
      PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData)

Definition at line 92 of file contact-force.hpp.

Constructor & Destructor Documentation

ContactForceDataTpl()

template<typename Scalar>

aligator::ContactForceDataTpl< Scalar >::ContactForceDataTpl

(

const ContactForceResidualTpl< Scalar > *

model

)

Member Data Documentation

pin_data_

template<typename Scalar>

PinData aligator::ContactForceDataTpl< Scalar >::pin_data_

Pinocchio data object.

Definition at line 96 of file contact-force.hpp.

tau_

template<typename Scalar>

VectorXs aligator::ContactForceDataTpl< Scalar >::tau_

Definition at line 97 of file contact-force.hpp.

constraint_datas_

template<typename Scalar>

RigidConstraintDataVector aligator::ContactForceDataTpl< Scalar >::constraint_datas_

Definition at line 99 of file contact-force.hpp.

settings

template<typename Scalar>

pinocchio::ProximalSettingsTpl<Scalar> aligator::ContactForceDataTpl< Scalar >::settings

Definition at line 100 of file contact-force.hpp.

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

• include/aligator/modelling/multibody/contact-force.hpp