aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::FrameCollisionDataTpl< Scalar > Struct Template Reference

#include <aligator/modelling/multibody/frame-collision.hpp>

Inheritance diagram for aligator::FrameCollisionDataTpl< Scalar >:
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Collaboration diagram for aligator::FrameCollisionDataTpl< Scalar >:
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Public Types

using Base = StageFunctionDataTpl<Scalar>
 
using SE3 = pinocchio::SE3Tpl<Scalar>
 
- Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using Scalar
 
using Scalar
 

Public Member Functions

 FrameCollisionDataTpl (const FrameCollisionResidualTpl< Scalar > &model)
 
- 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< Scalarpin_data_
 
pinocchio::GeometryData geom_data
 
Matrix6Xs Jcol_
 Jacobian of the collision point.
 
Matrix6Xs Jcol2_
 
SE3 jointToP1_
 Placement of collision point to joint.
 
SE3 jointToP2_
 
Vector3s distance_
 Distance from nearest point to joint for each collision frame.
 
Vector3s distance2_
 
- 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_
 

Detailed Description

template<typename Scalar>
struct aligator::FrameCollisionDataTpl< Scalar >

Definition at line 71 of file frame-collision.hpp.

Member Typedef Documentation

◆ Base

Definition at line 73 of file frame-collision.hpp.

◆ SE3

template<typename Scalar>
using aligator::FrameCollisionDataTpl< Scalar >::SE3 = pinocchio::SE3Tpl<Scalar>

Definition at line 76 of file frame-collision.hpp.

Constructor & Destructor Documentation

◆ FrameCollisionDataTpl()

template<typename Scalar>
aligator::FrameCollisionDataTpl< Scalar >::FrameCollisionDataTpl ( const FrameCollisionResidualTpl< Scalar > & model)

Member Data Documentation

◆ pin_data_

template<typename Scalar>
pinocchio::DataTpl<Scalar> aligator::FrameCollisionDataTpl< Scalar >::pin_data_

Definition at line 78 of file frame-collision.hpp.

◆ geom_data

template<typename Scalar>
pinocchio::GeometryData aligator::FrameCollisionDataTpl< Scalar >::geom_data

Definition at line 79 of file frame-collision.hpp.

◆ Jcol_

template<typename Scalar>
Matrix6Xs aligator::FrameCollisionDataTpl< Scalar >::Jcol_

Jacobian of the collision point.

Definition at line 81 of file frame-collision.hpp.

◆ Jcol2_

template<typename Scalar>
Matrix6Xs aligator::FrameCollisionDataTpl< Scalar >::Jcol2_

Definition at line 82 of file frame-collision.hpp.

◆ jointToP1_

template<typename Scalar>
SE3 aligator::FrameCollisionDataTpl< Scalar >::jointToP1_

Placement of collision point to joint.

Definition at line 84 of file frame-collision.hpp.

◆ jointToP2_

template<typename Scalar>
SE3 aligator::FrameCollisionDataTpl< Scalar >::jointToP2_

Definition at line 85 of file frame-collision.hpp.

◆ distance_

template<typename Scalar>
Vector3s aligator::FrameCollisionDataTpl< Scalar >::distance_

Distance from nearest point to joint for each collision frame.

Definition at line 87 of file frame-collision.hpp.

◆ distance2_

template<typename Scalar>
Vector3s aligator::FrameCollisionDataTpl< Scalar >::distance2_

Definition at line 88 of file frame-collision.hpp.


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