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

Inheritance diagram for aligator::FlyHighResidualTpl< _Scalar >::Data:

Collaboration diagram for aligator::FlyHighResidualTpl< _Scalar >::Data:

Public Types
using	Scalar

using	Base

using	BaseData

using	Model

Public Types inherited from aligator::UnaryFunctionTpl< Scalar >
using	Scalar

using	Base

using	Data

using	Scalar

using	Base

using	Data

Public Types inherited from aligator::StageFunctionTpl< Scalar >
using	Scalar

using	Data

using	Scalar

using	Data

Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using	Scalar

using	Scalar

Public Member Functions
	Data (FlyHighResidualTpl const &model)

	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.

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

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.

virtual void	computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const

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

	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 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
pinocchio::DataTpl< Scalar >	pdata_

Matrix6Xs	d_dq

Matrix6Xs	d_dv

Matrix6Xs	l_dnu_dq

Matrix6Xs	l_dnu_dv

Matrix3Xs	o_dv_dq

Matrix3Xs	o_dv_dv

Matrix3Xs	vxJ

Scalar	ez

const int	ndx1

const int	nr

const int	nu

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.

const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	nr
	Function codimension.

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_

Static Public Attributes
static constexpr int	NR

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

Detailed Description

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

Definition at line 46 of file fly-high.hpp.

Member Typedef Documentation

◆ Scalar

using aligator::FlyHighResidualTpl< Scalar >::Scalar

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

◆ Base

using aligator::FlyHighResidualTpl< Scalar >::Base

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

◆ BaseData

using aligator::FlyHighResidualTpl< Scalar >::BaseData

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

◆ Model

using aligator::FlyHighResidualTpl< Scalar >::Model

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

Constructor & Destructor Documentation

◆ Data()

template<typename _Scalar>

aligator::FlyHighResidualTpl< _Scalar >::Data::Data ( FlyHighResidualTpl const & model )

inline

Definition at line 52 of file fly-high.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

aligator::FlyHighResidualTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ FlyHighResidualTpl()

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

◆ evaluate()

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

virtual

Implements aligator::UnaryFunctionTpl< Scalar >.

◆ computeJacobians()

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

virtual

Implements aligator::UnaryFunctionTpl< Scalar >.

◆ createData()

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()

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

inline

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

Member Data Documentation

◆ pdata_

template<typename _Scalar>

pinocchio::DataTpl<Scalar> aligator::FlyHighResidualTpl< _Scalar >::Data::pdata_

Definition at line 71 of file fly-high.hpp.

◆ d_dq

template<typename _Scalar>

Matrix6Xs aligator::FlyHighResidualTpl< _Scalar >::Data::d_dq

Definition at line 72 of file fly-high.hpp.

◆ d_dv

template<typename _Scalar>

Matrix6Xs aligator::FlyHighResidualTpl< _Scalar >::Data::d_dv

Definition at line 72 of file fly-high.hpp.

◆ l_dnu_dq

template<typename _Scalar>

Matrix6Xs aligator::FlyHighResidualTpl< _Scalar >::Data::l_dnu_dq

Definition at line 73 of file fly-high.hpp.

◆ l_dnu_dv

template<typename _Scalar>

Matrix6Xs aligator::FlyHighResidualTpl< _Scalar >::Data::l_dnu_dv

Definition at line 73 of file fly-high.hpp.

◆ o_dv_dq

template<typename _Scalar>

Matrix3Xs aligator::FlyHighResidualTpl< _Scalar >::Data::o_dv_dq

Definition at line 74 of file fly-high.hpp.

◆ o_dv_dv

template<typename _Scalar>

Matrix3Xs aligator::FlyHighResidualTpl< _Scalar >::Data::o_dv_dv

Definition at line 74 of file fly-high.hpp.

◆ vxJ

template<typename _Scalar>

Matrix3Xs aligator::FlyHighResidualTpl< _Scalar >::Data::vxJ

Definition at line 74 of file fly-high.hpp.

◆ ez

template<typename _Scalar>

Scalar aligator::FlyHighResidualTpl< _Scalar >::Data::ez

Definition at line 75 of file fly-high.hpp.

◆ ndx1

template<typename _Scalar>

const int aligator::StageFunctionDataTpl< Scalar >::ndx1

Definition at line 77 of file function-abstract.hpp.

◆ nr

template<typename _Scalar>

const int aligator::StageFunctionDataTpl< Scalar >::nr

Definition at line 79 of file function-abstract.hpp.

◆ nu

template<typename _Scalar>

const int aligator::StageFunctionDataTpl< Scalar >::nu

Definition at line 78 of file function-abstract.hpp.

◆ NR

int aligator::FlyHighResidualTpl< Scalar >::NR

staticconstexpr

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

◆ slope_

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BaseData

◆ Model

Constructor & Destructor Documentation

◆ Data()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ FlyHighResidualTpl()

◆ evaluate()

◆ computeJacobians()

◆ createData()

◆ getModel()

Member Data Documentation

◆ pdata_

◆ d_dq

◆ d_dv

◆ l_dnu_dq

◆ l_dnu_dv

◆ o_dv_dq

◆ o_dv_dv

◆ vxJ

◆ ez

◆ ndx1

◆ nr

◆ nu

◆ NR

◆ slope_