aligator  0.15.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
Loading...
Searching...
No Matches
aligator::FramePlacementDataTpl< Scalar > Struct Template Reference

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

Inheritance diagram for aligator::FramePlacementDataTpl< Scalar >:
[legend]
Collaboration diagram for aligator::FramePlacementDataTpl< Scalar >:
[legend]

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

 FramePlacementDataTpl (const FramePlacementResidualTpl< 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 rMf_
 Placement error of the frame.
 
math_types< Scalar >::Matrix6s rJf_
 Jacobian of the error.
 
math_types< Scalar >::Matrix6Xs fJf_
 Jacobian of the error, local frame.
 
- 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::FramePlacementDataTpl< Scalar >

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

Member Typedef Documentation

◆ Base

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

◆ PinData

template<typename Scalar>
using aligator::FramePlacementDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

Definition at line 63 of file frame-placement.hpp.

◆ SE3

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

Definition at line 64 of file frame-placement.hpp.

Constructor & Destructor Documentation

◆ FramePlacementDataTpl()

template<typename Scalar>
aligator::FramePlacementDataTpl< Scalar >::FramePlacementDataTpl ( const FramePlacementResidualTpl< Scalar > & model)

Member Data Documentation

◆ pin_data_

template<typename Scalar>
PinData aligator::FramePlacementDataTpl< Scalar >::pin_data_

Pinocchio data object.

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

◆ rMf_

template<typename Scalar>
SE3 aligator::FramePlacementDataTpl< Scalar >::rMf_

Placement error of the frame.

Definition at line 69 of file frame-placement.hpp.

◆ rJf_

template<typename Scalar>
math_types<Scalar>::Matrix6s aligator::FramePlacementDataTpl< Scalar >::rJf_

Jacobian of the error.

Definition at line 71 of file frame-placement.hpp.

◆ fJf_

template<typename Scalar>
math_types<Scalar>::Matrix6Xs aligator::FramePlacementDataTpl< Scalar >::fJf_

Jacobian of the error, local frame.

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


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