aligator  0.15.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::ContactForceDataTpl< Scalar > Struct Template Reference

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

Inheritance diagram for aligator::ContactForceDataTpl< Scalar >:
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Collaboration diagram for aligator::ContactForceDataTpl< Scalar >:
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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< Scalarsettings
 
- 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 88 of file contact-force.hpp.

Member Typedef Documentation

◆ Base

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

◆ PinData

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

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

◆ VectorXs

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

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

◆ MatrixXs

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

Definition at line 93 of file contact-force.hpp.

◆ RigidConstraintData

template<typename Scalar>
using aligator::ContactForceDataTpl< Scalar >::RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar>

Definition at line 94 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 97 of file contact-force.hpp.

◆ tau_

template<typename Scalar>
VectorXs aligator::ContactForceDataTpl< Scalar >::tau_

Definition at line 98 of file contact-force.hpp.

◆ constraint_datas_

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

Definition at line 101 of file contact-force.hpp.

◆ settings

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

Definition at line 102 of file contact-force.hpp.


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