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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 | 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< Scalar > | pin_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 >
struct aligator::FrameCollisionDataTpl< Scalar >
Definition at line 71 of file frame-collision.hpp.
Member Typedef Documentation
◆ Base
template<typename Scalar>
| using aligator::FrameCollisionDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar> |
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:
- include/aligator/modelling/multibody/frame-collision.hpp
