aligator::FrameCollisionDataTpl< Scalar > Struct Template Reference

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

Inheritance diagram for aligator::FrameCollisionDataTpl< Scalar >:

Collaboration diagram for aligator::FrameCollisionDataTpl< Scalar >:

Public Types
using	Base = StageFunctionDataTpl<Scalar>
using	PinData = pinocchio::DataTpl<Scalar>
using	PinGeom = pinocchio::GeometryData
using	pinPlacement = pinocchio::SE3
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)
	StageFunctionDataTpl (const int ndx, const int nu, const int nr)
	Default constructor.
	StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model)
virtual	~StageFunctionDataTpl ()=default
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionDataTpl (const int ndx, const int nu, const int nr)
	Default constructor.
	StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model)
virtual	~StageFunctionDataTpl ()=default

Public Attributes
PinData	pin_data_
	Pinocchio data object.
pinocchio::GeometryData	geometry_
	Pinocchio geometry object.
math_types< Scalar >::Matrix6Xs	Jcol_
	Jacobian of the collision point.
math_types< Scalar >::Matrix6Xs	Jcol2_
pinPlacement	jointToP1_
	Placement of collision point to joint.
pinPlacement	jointToP2_
math_types< Scalar >::Vector3s	distance_
	Distance from nearest point to joint for each collision frame.
math_types< Scalar >::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 64 of file frame-collision.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

using aligator::FrameCollisionDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar>

Definition at line 66 of file frame-collision.hpp.

PinData

template<typename Scalar>

using aligator::FrameCollisionDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

Definition at line 67 of file frame-collision.hpp.

PinGeom

template<typename Scalar>

using aligator::FrameCollisionDataTpl< Scalar >::PinGeom = pinocchio::GeometryData

Definition at line 68 of file frame-collision.hpp.

pinPlacement

template<typename Scalar>

using aligator::FrameCollisionDataTpl< Scalar >::pinPlacement = pinocchio::SE3

Definition at line 69 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>

PinData aligator::FrameCollisionDataTpl< Scalar >::pin_data_

Pinocchio data object.

Definition at line 72 of file frame-collision.hpp.

geometry_

template<typename Scalar>

pinocchio::GeometryData aligator::FrameCollisionDataTpl< Scalar >::geometry_

Pinocchio geometry object.

Definition at line 74 of file frame-collision.hpp.

Jcol_

template<typename Scalar>

math_types<Scalar>::Matrix6Xs aligator::FrameCollisionDataTpl< Scalar >::Jcol_

Jacobian of the collision point.

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

Jcol2_

template<typename Scalar>

math_types<Scalar>::Matrix6Xs aligator::FrameCollisionDataTpl< Scalar >::Jcol2_

Definition at line 77 of file frame-collision.hpp.

jointToP1_

template<typename Scalar>

pinPlacement aligator::FrameCollisionDataTpl< Scalar >::jointToP1_

Placement of collision point to joint.

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

jointToP2_

template<typename Scalar>

pinPlacement aligator::FrameCollisionDataTpl< Scalar >::jointToP2_

Definition at line 80 of file frame-collision.hpp.

distance_

template<typename Scalar>

math_types<Scalar>::Vector3s aligator::FrameCollisionDataTpl< Scalar >::distance_

Distance from nearest point to joint for each collision frame.

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

distance2_

template<typename Scalar>

math_types<Scalar>::Vector3s aligator::FrameCollisionDataTpl< Scalar >::distance2_

Definition at line 83 of file frame-collision.hpp.

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

• include/aligator/modelling/multibody/frame-collision.hpp