aligator  0.13.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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aligator::ContactForceResidualTpl< _Scalar > Struct Template Reference

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 >:
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Collaboration diagram for aligator::ContactForceResidualTpl< _Scalar >:
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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>
 
- 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, const std::string &contact_name)
 
const Vector3or6getReference () 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< BaseDatacreateData () 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.

◆ RigidConstraintModelVector

template<typename _Scalar>
using aligator::ContactForceResidualTpl< _Scalar >::RigidConstraintModelVector
Initial value:
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(
pinocchio::RigidConstraintModel)

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

◆ RigidConstraintDataVector

template<typename _Scalar>
using aligator::ContactForceResidualTpl< _Scalar >::RigidConstraintDataVector
Initial value:
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData)

Definition at line 31 of file contact-force.hpp.

◆ ProxSettings

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

Definition at line 33 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 34 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,
const std::string & contact_name )
inline

Definition at line 44 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 71 of file contact-force.hpp.

◆ setReference()

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

Definition at line 72 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 80 of file contact-force.hpp.

Member Data Documentation

◆ pin_model_

template<typename _Scalar>
Model aligator::ContactForceResidualTpl< _Scalar >::pin_model_

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

◆ actuation_matrix_

template<typename _Scalar>
MatrixXs aligator::ContactForceResidualTpl< _Scalar >::actuation_matrix_

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

◆ constraint_models_

template<typename _Scalar>
RigidConstraintModelVector aligator::ContactForceResidualTpl< _Scalar >::constraint_models_

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

◆ prox_settings_

template<typename _Scalar>
ProxSettings aligator::ContactForceResidualTpl< _Scalar >::prox_settings_

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

◆ fref_

template<typename _Scalar>
Vector3or6 aligator::ContactForceResidualTpl< _Scalar >::fref_

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

◆ force_size_

template<typename _Scalar>
long aligator::ContactForceResidualTpl< _Scalar >::force_size_

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

◆ contact_id_

template<typename _Scalar>
int aligator::ContactForceResidualTpl< _Scalar >::contact_id_

Definition at line 42 of file contact-force.hpp.


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