aligator::FlyHighResidualTpl< _Scalar > Struct Template Reference

A port of sobec's ResidualModelFlyHighTpl. More...

#include <aligator/modelling/multibody/fly-high.hpp>

Inheritance diagram for aligator::FlyHighResidualTpl< _Scalar >:

Collaboration diagram for aligator::FlyHighResidualTpl< _Scalar >:

Classes
struct	Data

Public Types
using	Scalar = _Scalar
using	Base = UnaryFunctionTpl<Scalar>
using	BaseData = StageFunctionDataTpl<Scalar>
using	Model = pinocchio::ModelTpl<Scalar>
Public Types inherited from aligator::UnaryFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Base = StageFunctionTpl<Scalar>
using	Data = StageFunctionDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	FlyHighResidualTpl (const int ndx, const Model &model, const pinocchio::FrameIndex frame_id, Scalar slope, int nu)
void	evaluate (const ConstVectorRef &x, BaseData &data) const
void	computeJacobians (const ConstVectorRef &x, BaseData &data) const
shared_ptr< BaseData >	createData () const
	Instantiate a Data object.
const auto &	getModel () const
Public Member Functions inherited from aligator::UnaryFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
virtual void	computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override
	Compute Jacobians of this function.
void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override
	Compute the vector-hessian products of this function.
Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual	~StageFunctionTpl ()=default
Public Member Functions inherited from aligator::frame_api
pinocchio::FrameIndex	getFrameId () const
void	setFrameId (const std::size_t id)

Public Attributes
Scalar	slope_
Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.

Static Public Attributes
static constexpr int	NR = 2

Additional Inherited Members
Protected Attributes inherited from aligator::frame_api
pinocchio::FrameIndex	pin_frame_id_

Detailed Description

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

A port of sobec's ResidualModelFlyHighTpl.

Definition at line 12 of file fly-high.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 13 of file fly-high.hpp.

Base

template<typename _Scalar>

using aligator::FlyHighResidualTpl< _Scalar >::Base = UnaryFunctionTpl<Scalar>

Definition at line 17 of file fly-high.hpp.

BaseData

template<typename _Scalar>

using aligator::FlyHighResidualTpl< _Scalar >::BaseData = StageFunctionDataTpl<Scalar>

Definition at line 18 of file fly-high.hpp.

Model

template<typename _Scalar>

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

Definition at line 19 of file fly-high.hpp.

Constructor & Destructor Documentation

FlyHighResidualTpl()

template<typename _Scalar>

aligator::FlyHighResidualTpl< _Scalar >::FlyHighResidualTpl	(	const int	ndx,
		const Model &	model,
		const pinocchio::FrameIndex	frame_id,
		Scalar	slope,
		int	nu )

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::FlyHighResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar>

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

virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

computeJacobians()

template<typename _Scalar>

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

virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

createData()

template<typename _Scalar>

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

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 30 of file fly-high.hpp.

getModel()

template<typename _Scalar>

const auto & aligator::FlyHighResidualTpl< _Scalar >::getModel ( ) const

inline

Definition at line 34 of file fly-high.hpp.

Member Data Documentation

NR

template<typename _Scalar>

int aligator::FlyHighResidualTpl< _Scalar >::NR = 2

staticconstexpr

Definition at line 15 of file fly-high.hpp.

slope_

template<typename _Scalar>

Scalar aligator::FlyHighResidualTpl< _Scalar >::slope_

Definition at line 36 of file fly-high.hpp.

---

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

• include/aligator/modelling/multibody/fly-high.hpp