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

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

Inheritance diagram for aligator::ContactForceResidualTpl< _Scalar >:

Collaboration diagram for aligator::ContactForceResidualTpl< _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 = ContactForceDataTpl<Scalar>

using	RigidConstraintModel = pinocchio::RigidConstraintModelTpl<Scalar>

using	RigidConstraintModelVector

using	ProxSettings = pinocchio::ProximalSettingsTpl<Scalar>

using	Vector3or6 = Eigen::Matrix<Scalar, -1, 1, Eigen::ColMajor, 6, 1>

Public Types inherited from aligator::StageFunctionTpl< _Scalar >
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, std::string_view 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.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	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_

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

const int	nu
	Control dimension.

const int	nr
	Function codimension.

Detailed Description

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

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

Definition at line 20 of file contact-force.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

Definition at line 22 of file contact-force.hpp.

◆ Base

template<typename _Scalar>

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

Definition at line 24 of file contact-force.hpp.

◆ BaseData

template<typename _Scalar>

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

Definition at line 25 of file contact-force.hpp.

◆ Model

template<typename _Scalar>

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

Definition at line 26 of file contact-force.hpp.

◆ SE3

template<typename _Scalar>

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

Definition at line 27 of file contact-force.hpp.

◆ Data

template<typename _Scalar>

using aligator::ContactForceResidualTpl< _Scalar >::Data = ContactForceDataTpl<Scalar>

Definition at line 28 of file contact-force.hpp.

◆ RigidConstraintModel

template<typename _Scalar>

using aligator::ContactForceResidualTpl< _Scalar >::RigidConstraintModel = pinocchio::RigidConstraintModelTpl<Scalar>

Definition at line 29 of file contact-force.hpp.

◆ RigidConstraintModelVector

template<typename _Scalar>

using aligator::ContactForceResidualTpl< _Scalar >::RigidConstraintModelVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintModel)

aligator::ContactForceResidualTpl::RigidConstraintModel

pinocchio::RigidConstraintModelTpl< Scalar > RigidConstraintModel

Definition contact-force.hpp:29

Definition at line 30 of file contact-force.hpp.

◆ ProxSettings

template<typename _Scalar>

using aligator::ContactForceResidualTpl< _Scalar >::ProxSettings = pinocchio::ProximalSettingsTpl<Scalar>

Definition at line 32 of file contact-force.hpp.

◆ Vector3or6

template<typename _Scalar>

using aligator::ContactForceResidualTpl< _Scalar >::Vector3or6 = Eigen::Matrix<Scalar, -1, 1, Eigen::ColMajor, 6, 1>

Definition at line 33 of file contact-force.hpp.

Constructor & Destructor Documentation

◆ ContactForceResidualTpl()

template<typename _Scalar>

aligator::ContactForceResidualTpl< _Scalar >::ContactForceResidualTpl	(	const int	ndx,
		const Model &	model,
		const MatrixXs &	actuation,
		const RigidConstraintModelVector &	constraint_models,
		const ProxSettings &	prox_settings,
		const Vector3or6 &	fref,
		std::string_view	contact_name )

inline

Definition at line 43 of file contact-force.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

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

◆ getReference()

template<typename _Scalar>

const Vector3or6 & aligator::ContactForceResidualTpl< _Scalar >::getReference ( ) const

inline

Definition at line 72 of file contact-force.hpp.

◆ setReference()

template<typename _Scalar>

void aligator::ContactForceResidualTpl< _Scalar >::setReference ( const Eigen::Ref< const Vector3or6 > & fnew )

inline

Definition at line 73 of file contact-force.hpp.

◆ evaluate()

template<typename _Scalar>

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

◆ computeJacobians()

template<typename _Scalar>

void aligator::ContactForceResidualTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	,
		const ConstVectorRef &	,
		BaseData &	data ) const

◆ createData()

template<typename _Scalar>

shared_ptr< BaseData > aligator::ContactForceResidualTpl< _Scalar >::createData ( ) const

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 81 of file contact-force.hpp.

Member Data Documentation

◆ pin_model_

template<typename _Scalar>

Model aligator::ContactForceResidualTpl< _Scalar >::pin_model_

Definition at line 35 of file contact-force.hpp.

◆ actuation_matrix_

template<typename _Scalar>

MatrixXs aligator::ContactForceResidualTpl< _Scalar >::actuation_matrix_

Definition at line 36 of file contact-force.hpp.

◆ constraint_models_

template<typename _Scalar>

RigidConstraintModelVector aligator::ContactForceResidualTpl< _Scalar >::constraint_models_

Definition at line 37 of file contact-force.hpp.

◆ prox_settings_

template<typename _Scalar>

ProxSettings aligator::ContactForceResidualTpl< _Scalar >::prox_settings_

Definition at line 38 of file contact-force.hpp.

◆ fref_

template<typename _Scalar>

Vector3or6 aligator::ContactForceResidualTpl< _Scalar >::fref_

Definition at line 39 of file contact-force.hpp.

◆ force_size_

template<typename _Scalar>

long aligator::ContactForceResidualTpl< _Scalar >::force_size_

Definition at line 40 of file contact-force.hpp.

◆ contact_id_

template<typename _Scalar>

int aligator::ContactForceResidualTpl< _Scalar >::contact_id_

Definition at line 41 of file contact-force.hpp.

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

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BaseData

◆ Model

◆ SE3

◆ Data

◆ RigidConstraintModel

◆ RigidConstraintModelVector

◆ ProxSettings

◆ Vector3or6

Constructor & Destructor Documentation

◆ ContactForceResidualTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ getReference()

◆ setReference()

◆ evaluate()

◆ computeJacobians()

◆ createData()

Member Data Documentation

◆ pin_model_

◆ actuation_matrix_

◆ constraint_models_

◆ prox_settings_

◆ fref_

◆ force_size_

◆ contact_id_