Residual enforcing equality between two Pinocchio frames. More...

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

Inheritance diagram for aligator::FrameEqualityResidualTpl< _Scalar >:

Collaboration diagram for aligator::FrameEqualityResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	BaseData = StageFunctionDataTpl<Scalar>

using	Model = pinocchio::ModelTpl<Scalar>

using	PolyManifold = xyz::polymorphic<ManifoldAbstractTpl<Scalar>>

using	SE3 = pinocchio::SE3Tpl<Scalar>

using	Data = FrameEqualityDataTpl<Scalar>

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)

	FrameEqualityResidualTpl (const int ndx, const int nu, const Model &model, const pinocchio::FrameIndex frame_id1, const pinocchio::FrameIndex frame_id2, const SE3 &f1Mf2_ref=SE3::Identity())

pinocchio::FrameIndex	getFrame1Id () const

void	setFrame1Id (const std::size_t id)

pinocchio::FrameIndex	getFrame2Id () const

void	setFrame2Id (const std::size_t id)

const SE3 &	getReference () const

void	setReference (const SE3 &f1Mf2_ref)

void	evaluate (const ConstVectorRef &x, BaseData &data) const

void	computeJacobians (const ConstVectorRef &x, BaseData &data) const

shared_ptr< BaseData >	createData () const
	Instantiate a Data object.

Public Member Functions inherited from aligator::UnaryFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

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 Attributes
Model	pin_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::FrameIndex	pin_frame_id1_

pinocchio::FrameIndex	pin_frame_id2_

SE3	f1MR_ref_

Detailed Description

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

Residual enforcing equality between two Pinocchio frames.

Computes the 6D log error between frame frame_id1 and frame frame_id2. The residual is:

r = log6( f1^{-1} * f1Mf2_ref * f2 )

where:

f1 and f2 are the world placements of the two frames,
f1Mf2_ref is the desired relative transform (reference).

All computations (residual and Jacobians) are expressed in an R frame attached to f1 (f1 -> f1Mf2_ref -> R -> error -> f2)

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

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

using aligator::FrameEqualityResidualTpl< _Scalar >::Scalar = _Scalar

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

◆ BaseData

template<typename _Scalar>

using aligator::FrameEqualityResidualTpl< _Scalar >::BaseData = StageFunctionDataTpl<Scalar>

Definition at line 37 of file frame-equality.hpp.

◆ Model

template<typename _Scalar>

using aligator::FrameEqualityResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar>

Definition at line 38 of file frame-equality.hpp.

◆ PolyManifold

template<typename _Scalar>

using aligator::FrameEqualityResidualTpl< _Scalar >::PolyManifold = xyz::polymorphic<ManifoldAbstractTpl<Scalar>>

Definition at line 39 of file frame-equality.hpp.

◆ SE3

template<typename _Scalar>

using aligator::FrameEqualityResidualTpl< _Scalar >::SE3 = pinocchio::SE3Tpl<Scalar>

Definition at line 40 of file frame-equality.hpp.

◆ Data

template<typename _Scalar>

using aligator::FrameEqualityResidualTpl< _Scalar >::Data = FrameEqualityDataTpl<Scalar>

Definition at line 41 of file frame-equality.hpp.

Constructor & Destructor Documentation

◆ FrameEqualityResidualTpl()

template<typename _Scalar>

aligator::FrameEqualityResidualTpl< _Scalar >::FrameEqualityResidualTpl	(	const int	ndx,
		const int	nu,
		const Model &	model,
		const pinocchio::FrameIndex	frame_id1,
		const pinocchio::FrameIndex	frame_id2,
		const SE3 &	f1Mf2_ref = SE3::Identity() )

inline

Definition at line 45 of file frame-equality.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::FrameEqualityResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()

template<typename _Scalar>

aligator::FrameEqualityResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE ( Scalar )

◆ getFrame1Id()

template<typename _Scalar>

pinocchio::FrameIndex aligator::FrameEqualityResidualTpl< _Scalar >::getFrame1Id ( ) const

inline

Definition at line 56 of file frame-equality.hpp.

◆ setFrame1Id()

template<typename _Scalar>

void aligator::FrameEqualityResidualTpl< _Scalar >::setFrame1Id ( const std::size_t id )

inline

Definition at line 57 of file frame-equality.hpp.

◆ getFrame2Id()

template<typename _Scalar>

pinocchio::FrameIndex aligator::FrameEqualityResidualTpl< _Scalar >::getFrame2Id ( ) const

inline

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

◆ setFrame2Id()

template<typename _Scalar>

void aligator::FrameEqualityResidualTpl< _Scalar >::setFrame2Id ( const std::size_t id )

inline

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

◆ getReference()

template<typename _Scalar>

const SE3 & aligator::FrameEqualityResidualTpl< _Scalar >::getReference ( ) const

inline

Definition at line 61 of file frame-equality.hpp.

◆ setReference()

template<typename _Scalar>

void aligator::FrameEqualityResidualTpl< _Scalar >::setReference ( const SE3 & f1Mf2_ref )

inline

Definition at line 62 of file frame-equality.hpp.

◆ evaluate()

template<typename _Scalar>

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

virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

◆ computeJacobians()

template<typename _Scalar>

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

virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

shared_ptr< BaseData > aligator::FrameEqualityResidualTpl< _Scalar >::createData ( ) const

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

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

Member Data Documentation

◆ pin_model_

template<typename _Scalar>

Model aligator::FrameEqualityResidualTpl< _Scalar >::pin_model_

Definition at line 43 of file frame-equality.hpp.

◆ pin_frame_id1_

template<typename _Scalar>

pinocchio::FrameIndex aligator::FrameEqualityResidualTpl< _Scalar >::pin_frame_id1_

protected

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

◆ pin_frame_id2_

template<typename _Scalar>

pinocchio::FrameIndex aligator::FrameEqualityResidualTpl< _Scalar >::pin_frame_id2_

protected

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

◆ f1MR_ref_

template<typename _Scalar>

SE3 aligator::FrameEqualityResidualTpl< _Scalar >::f1MR_ref_

protected

Definition at line 75 of file frame-equality.hpp.

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

include/aligator/modelling/multibody/frame-equality.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ BaseData

◆ Model

◆ PolyManifold

◆ SE3

◆ Data

Constructor & Destructor Documentation

◆ FrameEqualityResidualTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()

◆ getFrame1Id()

◆ setFrame1Id()

◆ getFrame2Id()

◆ setFrame2Id()

◆ getReference()

◆ setReference()

◆ evaluate()

◆ computeJacobians()

◆ createData()

Member Data Documentation

◆ pin_model_

◆ pin_frame_id1_

◆ pin_frame_id2_

◆ f1MR_ref_