aligator::FramePlacementResidualTpl< _Scalar > Struct Template Reference

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

Inheritance diagram for aligator::FramePlacementResidualTpl< _Scalar >:

Collaboration diagram for aligator::FramePlacementResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	BaseData = StageFunctionDataTpl<Scalar>
using	Model = pinocchio::ModelTpl<Scalar>
using	ManifoldPtr = shared_ptr<ManifoldAbstractTpl<Scalar>>
using	SE3 = pinocchio::SE3Tpl<Scalar>
using	Data = FramePlacementDataTpl<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)
	FramePlacementResidualTpl (const int ndx, const int nu, const shared_ptr< Model > &model, const SE3 &frame, const pinocchio::FrameIndex frame_id)
const SE3 &	getReference () const
void	setReference (const SE3 &p_new)
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 &, const ConstVectorRef &, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
	Compute Jacobians of this function.
void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, 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 ndx1, const int nu, const int ndx2, const int nr)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.
virtual	~StageFunctionTpl ()=default
Public Member Functions inherited from aligator::frame_api
pinocchio::FrameIndex	getFrameId () const
void	setFrameId (const std::size_t id)

Public Attributes
shared_ptr< Model >	pin_model_
Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	ndx2
	Next state dimension.
const int	nr
	Function codimension.

Protected Attributes
SE3	p_ref_
SE3	p_ref_inverse_
Protected Attributes inherited from aligator::frame_api
pinocchio::FrameIndex	pin_frame_id_

Detailed Description

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

Definition at line 14 of file frame-placement.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 17 of file frame-placement.hpp.

BaseData

template<typename _Scalar >

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

Definition at line 20 of file frame-placement.hpp.

Model

template<typename _Scalar >

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

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

ManifoldPtr

template<typename _Scalar >

using aligator::FramePlacementResidualTpl< _Scalar >::ManifoldPtr = shared_ptr<ManifoldAbstractTpl<Scalar>>

Definition at line 22 of file frame-placement.hpp.

SE3

template<typename _Scalar >

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

Definition at line 23 of file frame-placement.hpp.

Data

template<typename _Scalar >

using aligator::FramePlacementResidualTpl< _Scalar >::Data = FramePlacementDataTpl<Scalar>

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

Constructor & Destructor Documentation

FramePlacementResidualTpl()

template<typename _Scalar >

aligator::FramePlacementResidualTpl< _Scalar >::FramePlacementResidualTpl ( const int ndx, const int nu, const shared_ptr< Model > & model, const SE3 & frame, const pinocchio::FrameIndex frame_id )

inline

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

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::FramePlacementResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

ALIGATOR_UNARY_FUNCTION_INTERFACE()

template<typename _Scalar >

aligator::FramePlacementResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE

(

Scalar

)

getReference()

template<typename _Scalar >

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

inline

Definition at line 36 of file frame-placement.hpp.

setReference()

template<typename _Scalar >

void aligator::FramePlacementResidualTpl< _Scalar >::setReference ( const SE3 & p_new )

inline

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

evaluate()

template<typename _Scalar >

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

virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

computeJacobians()

template<typename _Scalar >

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

virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

createData()

template<typename _Scalar >

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

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 46 of file frame-placement.hpp.

Member Data Documentation

pin_model_

template<typename _Scalar >

shared_ptr<Model> aligator::FramePlacementResidualTpl< _Scalar >::pin_model_

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

p_ref_

template<typename _Scalar >

SE3 aligator::FramePlacementResidualTpl< _Scalar >::p_ref_

protected

Definition at line 51 of file frame-placement.hpp.

p_ref_inverse_

template<typename _Scalar >

SE3 aligator::FramePlacementResidualTpl< _Scalar >::p_ref_inverse_

protected

Definition at line 52 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