aligator  0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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aligator::FrameCollisionResidualTpl< _Scalar > Struct Template Reference

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

Inheritance diagram for aligator::FrameCollisionResidualTpl< _Scalar >:
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Collaboration diagram for aligator::FrameCollisionResidualTpl< _Scalar >:
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Public Types

using Scalar = _Scalar
 
using BaseData = typename Base::Data
 
using Model = pinocchio::ModelTpl<Scalar>
 
using ManifoldPtr = xyz::polymorphic<ManifoldAbstractTpl<Scalar>>
 
using SE3 = pinocchio::SE3Tpl<Scalar>
 
using Data = FrameCollisionDataTpl<Scalar>
 
using GeometryModel = pinocchio::GeometryModel
 
- 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)
 
 ALIGATOR_UNARY_FUNCTION_INTERFACE (Scalar)
 
 FrameCollisionResidualTpl (const int ndx, const int nu, const Model &model, const GeometryModel &geom_model, const pinocchio::PairIndex frame_pair_id)
 
void evaluate (const ConstVectorRef &x, BaseData &data) const
 
void computeJacobians (const ConstVectorRef &x, BaseData &data) const
 
shared_ptr< BaseDatacreateData () const
 Instantiate a Data object.
 
- Public Member Functions inherited from aligator::UnaryFunctionTpl< _Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
virtual void evaluate (const ConstVectorRef &x, Data &data) const =0
 
virtual void computeJacobians (const ConstVectorRef &x, Data &data) const =0
 
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

Model pin_model_
 
GeometryModel geom_model_
 
- Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int ndx1
 Current state dimension.
 
const int nu
 Control dimension.
 
const int nr
 Function codimension.
 

Protected Attributes

pinocchio::PairIndex frame_pair_id_
 
pinocchio::FrameIndex frame_id1_
 
pinocchio::FrameIndex frame_id2_
 
- Protected Attributes inherited from aligator::frame_api
pinocchio::FrameIndex pin_frame_id_
 

Detailed Description

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

Definition at line 18 of file frame-collision.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>
using aligator::FrameCollisionResidualTpl< _Scalar >::Scalar = _Scalar

Definition at line 21 of file frame-collision.hpp.

◆ BaseData

template<typename _Scalar>
using aligator::FrameCollisionResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 24 of file frame-collision.hpp.

◆ Model

template<typename _Scalar>
using aligator::FrameCollisionResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar>

Definition at line 25 of file frame-collision.hpp.

◆ ManifoldPtr

template<typename _Scalar>
using aligator::FrameCollisionResidualTpl< _Scalar >::ManifoldPtr = xyz::polymorphic<ManifoldAbstractTpl<Scalar>>

Definition at line 26 of file frame-collision.hpp.

◆ SE3

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

Definition at line 27 of file frame-collision.hpp.

◆ Data

template<typename _Scalar>
using aligator::FrameCollisionResidualTpl< _Scalar >::Data = FrameCollisionDataTpl<Scalar>

Definition at line 28 of file frame-collision.hpp.

◆ GeometryModel

template<typename _Scalar>
using aligator::FrameCollisionResidualTpl< _Scalar >::GeometryModel = pinocchio::GeometryModel

Definition at line 29 of file frame-collision.hpp.

Constructor & Destructor Documentation

◆ FrameCollisionResidualTpl()

template<typename _Scalar>
aligator::FrameCollisionResidualTpl< _Scalar >::FrameCollisionResidualTpl ( const int ndx,
const int nu,
const Model & model,
const GeometryModel & geom_model,
const pinocchio::PairIndex frame_pair_id )
inline

Definition at line 34 of file frame-collision.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>
aligator::FrameCollisionResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()

template<typename _Scalar>
aligator::FrameCollisionResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE ( Scalar )

◆ evaluate()

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

◆ computeJacobians()

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

◆ createData()

template<typename _Scalar>
shared_ptr< BaseData > aligator::FrameCollisionResidualTpl< _Scalar >::createData ( ) const
inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 53 of file frame-collision.hpp.

Member Data Documentation

◆ pin_model_

template<typename _Scalar>
Model aligator::FrameCollisionResidualTpl< _Scalar >::pin_model_

Definition at line 31 of file frame-collision.hpp.

◆ geom_model_

template<typename _Scalar>
GeometryModel aligator::FrameCollisionResidualTpl< _Scalar >::geom_model_

Definition at line 32 of file frame-collision.hpp.

◆ frame_pair_id_

template<typename _Scalar>
pinocchio::PairIndex aligator::FrameCollisionResidualTpl< _Scalar >::frame_pair_id_
protected

Definition at line 58 of file frame-collision.hpp.

◆ frame_id1_

template<typename _Scalar>
pinocchio::FrameIndex aligator::FrameCollisionResidualTpl< _Scalar >::frame_id1_
protected

Definition at line 59 of file frame-collision.hpp.

◆ frame_id2_

template<typename _Scalar>
pinocchio::FrameIndex aligator::FrameCollisionResidualTpl< _Scalar >::frame_id2_
protected

Definition at line 60 of file frame-collision.hpp.


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