This residual returns the derivative of centroidal momentum for a kinodynamics model. More...
#include <aligator/modelling/multibody/contact-force.hpp>
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 = ContactForceDataTpl<Scalar> |
using | RigidConstraintModelVector |
using | RigidConstraintDataVector |
using | ProxSettings = pinocchio::ProximalSettingsTpl<Scalar> |
using | Vector3or6 = Eigen::Matrix<Scalar, -1, 1, Eigen::ColMajor, 6, 1> |
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using | Scalar = _Scalar |
using | Data = StageFunctionDataTpl<Scalar> |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
ContactForceResidualTpl (const int ndx, const Model &model, const MatrixXs &actuation, const RigidConstraintModelVector &constraint_models, const ProxSettings &prox_settings, const Vector3or6 &fref, const std::string &contact_name) | |
const Vector3or6 & | getReference () const |
void | setReference (const Eigen::Ref< const Vector3or6 > &fnew) |
void | evaluate (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const |
void | computeJacobians (const ConstVectorRef &, const ConstVectorRef &, BaseData &data) const |
shared_ptr< BaseData > | createData () const |
Instantiate a Data object. | |
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ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
StageFunctionTpl (const int ndx, const int nu, const int nr) | |
virtual void | evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0 |
Evaluate the function. | |
virtual void | computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0 |
Compute Jacobians of this function. | |
virtual void | computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const |
Compute the vector-hessian products of this function. | |
virtual | ~StageFunctionTpl ()=default |
Public Attributes | |
Model | pin_model_ |
MatrixXs | actuation_matrix_ |
RigidConstraintModelVector | constraint_models_ |
ProxSettings | prox_settings_ |
Vector3or6 | fref_ |
long | force_size_ |
int | contact_id_ |
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const int | ndx1 |
Current state dimension. | |
const int | nu |
Control dimension. | |
const int | nr |
Function codimension. | |
This residual returns the derivative of centroidal momentum for a kinodynamics model.
Definition at line 20 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::Scalar = _Scalar |
Definition at line 22 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::Base = StageFunctionTpl<Scalar> |
Definition at line 24 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::BaseData = typename Base::Data |
Definition at line 25 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar> |
Definition at line 26 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::SE3 = pinocchio::SE3Tpl<Scalar> |
Definition at line 27 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::Data = ContactForceDataTpl<Scalar> |
Definition at line 28 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::RigidConstraintModelVector |
Definition at line 29 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::RigidConstraintDataVector |
Definition at line 31 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::ProxSettings = pinocchio::ProximalSettingsTpl<Scalar> |
Definition at line 33 of file contact-force.hpp.
using aligator::ContactForceResidualTpl< _Scalar >::Vector3or6 = Eigen::Matrix<Scalar, -1, 1, Eigen::ColMajor, 6, 1> |
Definition at line 34 of file contact-force.hpp.
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inline |
Definition at line 44 of file contact-force.hpp.
aligator::ContactForceResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inline |
Definition at line 71 of file contact-force.hpp.
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inline |
Definition at line 72 of file contact-force.hpp.
void aligator::ContactForceResidualTpl< _Scalar >::evaluate | ( | const ConstVectorRef & | x, |
const ConstVectorRef & | u, | ||
BaseData & | data ) const |
void aligator::ContactForceResidualTpl< _Scalar >::computeJacobians | ( | const ConstVectorRef & | , |
const ConstVectorRef & | , | ||
BaseData & | data ) const |
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inlinevirtual |
Instantiate a Data object.
Reimplemented from aligator::StageFunctionTpl< _Scalar >.
Definition at line 80 of file contact-force.hpp.
Model aligator::ContactForceResidualTpl< _Scalar >::pin_model_ |
Definition at line 36 of file contact-force.hpp.
MatrixXs aligator::ContactForceResidualTpl< _Scalar >::actuation_matrix_ |
Definition at line 37 of file contact-force.hpp.
RigidConstraintModelVector aligator::ContactForceResidualTpl< _Scalar >::constraint_models_ |
Definition at line 38 of file contact-force.hpp.
ProxSettings aligator::ContactForceResidualTpl< _Scalar >::prox_settings_ |
Definition at line 39 of file contact-force.hpp.
Vector3or6 aligator::ContactForceResidualTpl< _Scalar >::fref_ |
Definition at line 40 of file contact-force.hpp.
long aligator::ContactForceResidualTpl< _Scalar >::force_size_ |
Definition at line 41 of file contact-force.hpp.
int aligator::ContactForceResidualTpl< _Scalar >::contact_id_ |
Definition at line 42 of file contact-force.hpp.