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aligator::FrameEqualityDataTpl< Scalar > Struct Template Reference
#include <aligator/modelling/multibody/frame-equality.hpp>
Inheritance diagram for aligator::FrameEqualityDataTpl< Scalar >:
Collaboration diagram for aligator::FrameEqualityDataTpl< Scalar >:
Public Types | |
| using | Base = StageFunctionDataTpl<Scalar> |
| using | PinData = pinocchio::DataTpl<Scalar> |
| using | SE3 = pinocchio::SE3Tpl<Scalar> |
 Public Types inherited from aligator::StageFunctionDataTpl< Scalar > | |
| using | Scalar |
| using | Scalar |
Public Member Functions | |
| FrameEqualityDataTpl (const FrameEqualityResidualTpl< 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 | |
| PinData | pin_data_ |
| Pinocchio data object. | |
| SE3 | RMf2_ |
| Equality error between the frames. | |
| math_types< Scalar >::Matrix6s | RJlog6f2_ |
| Jacobian of the error (log6) | |
| math_types< Scalar >::Matrix6Xs | wJf1_ |
| Jacobian of frame 1 expressed in WORLD. | |
| math_types< Scalar >::Matrix6Xs | wJf2_ |
| Jacobian of frame 2 expressed in WORLD. | |
| 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::FrameEqualityDataTpl< Scalar >
struct aligator::FrameEqualityDataTpl< Scalar >
Definition at line 79 of file frame-equality.hpp.
Member Typedef Documentation
◆ Base
template<typename Scalar>
| using aligator::FrameEqualityDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar> |
Definition at line 81 of file frame-equality.hpp.
◆ PinData
template<typename Scalar>
| using aligator::FrameEqualityDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar> |
Definition at line 82 of file frame-equality.hpp.
◆ SE3
template<typename Scalar>
| using aligator::FrameEqualityDataTpl< Scalar >::SE3 = pinocchio::SE3Tpl<Scalar> |
Definition at line 83 of file frame-equality.hpp.
Constructor & Destructor Documentation
◆ FrameEqualityDataTpl()
template<typename Scalar>
| aligator::FrameEqualityDataTpl< Scalar >::FrameEqualityDataTpl | ( | const FrameEqualityResidualTpl< Scalar > & | model | ) |
Member Data Documentation
◆ pin_data_
template<typename Scalar>
| PinData aligator::FrameEqualityDataTpl< Scalar >::pin_data_ |
Pinocchio data object.
Definition at line 86 of file frame-equality.hpp.
◆ RMf2_
template<typename Scalar>
| SE3 aligator::FrameEqualityDataTpl< Scalar >::RMf2_ |
Equality error between the frames.
Definition at line 88 of file frame-equality.hpp.
◆ RJlog6f2_
template<typename Scalar>
| math_types<Scalar>::Matrix6s aligator::FrameEqualityDataTpl< Scalar >::RJlog6f2_ |
Jacobian of the error (log6)
Definition at line 90 of file frame-equality.hpp.
◆ wJf1_
template<typename Scalar>
| math_types<Scalar>::Matrix6Xs aligator::FrameEqualityDataTpl< Scalar >::wJf1_ |
Jacobian of frame 1 expressed in WORLD.
Definition at line 92 of file frame-equality.hpp.
◆ wJf2_
template<typename Scalar>
| math_types<Scalar>::Matrix6Xs aligator::FrameEqualityDataTpl< Scalar >::wJf2_ |
Jacobian of frame 2 expressed in WORLD.
Definition at line 94 of file frame-equality.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/multibody/frame-equality.hpp
