aligator::FramePlacementDataTpl< Scalar > Struct Template Reference

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

Inheritance diagram for aligator::FramePlacementDataTpl< Scalar >:

Collaboration diagram for aligator::FramePlacementDataTpl< 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 = _Scalar

Public Member Functions
	FramePlacementDataTpl (const FramePlacementResidualTpl< Scalar > &model)
Public Member Functions inherited from aligator::StageFunctionDataTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	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 = ndx1 + nu
	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 58 of file frame-placement.hpp.

Member Typedef Documentation

Base

template<typename Scalar >

using aligator::FramePlacementDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar>

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

PinData

template<typename Scalar >

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

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

SE3

template<typename Scalar >

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

Definition at line 62 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 65 of file frame-placement.hpp.

rMf_

template<typename Scalar >

SE3 aligator::FramePlacementDataTpl< Scalar >::rMf_

Placement error of the frame.

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

rJf_

template<typename Scalar >

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

Jacobian of the error.

Definition at line 69 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 71 of file frame-placement.hpp.

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

• include/aligator/modelling/multibody/frame-placement.hpp