aligator
0.9.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
|
#include <aligator/modelling/multibody/frame-velocity.hpp>
Public Types | |
using | Scalar = _Scalar |
using | BaseData = typename Base::Data |
using | Model = pinocchio::ModelTpl<Scalar> |
using | ManifoldPtr = xyz::polymorphic<ManifoldAbstractTpl<Scalar>> |
using | SE3 = pinocchio::SE3Tpl<Scalar> |
using | Motion = pinocchio::MotionTpl<Scalar> |
using | Data = FrameVelocityDataTpl<Scalar> |
Public Types inherited from aligator::UnaryFunctionTpl< _Scalar > | |
using | Scalar |
using | Base |
using | Data |
Public Types inherited from aligator::StageFunctionTpl< _Scalar > | |
using | Scalar |
using | Data |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
ALIGATOR_UNARY_FUNCTION_INTERFACE (Scalar) | |
FrameVelocityResidualTpl (const int ndx, const int nu, const Model &model, const Motion &velocity, const pinocchio::FrameIndex id, const pinocchio::ReferenceFrame type) | |
const Motion & | getReference () const |
void | setReference (const Motion &v_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) | |
void | evaluate (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override |
void | computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override |
virtual void | computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const |
void | computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override |
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 Member Functions inherited from aligator::frame_api | |
pinocchio::FrameIndex | getFrameId () const |
void | setFrameId (const std::size_t id) |
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 | |
Motion | vref_ |
pinocchio::ReferenceFrame | type_ |
Protected Attributes inherited from aligator::frame_api | |
pinocchio::FrameIndex | pin_frame_id_ |
Definition at line 16 of file frame-velocity.hpp.
using aligator::FrameVelocityResidualTpl< _Scalar >::Scalar = _Scalar |
Definition at line 19 of file frame-velocity.hpp.
using aligator::FrameVelocityResidualTpl< _Scalar >::BaseData = typename Base::Data |
Definition at line 22 of file frame-velocity.hpp.
using aligator::FrameVelocityResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar> |
Definition at line 23 of file frame-velocity.hpp.
using aligator::FrameVelocityResidualTpl< _Scalar >::ManifoldPtr = xyz::polymorphic<ManifoldAbstractTpl<Scalar>> |
Definition at line 24 of file frame-velocity.hpp.
using aligator::FrameVelocityResidualTpl< _Scalar >::SE3 = pinocchio::SE3Tpl<Scalar> |
Definition at line 25 of file frame-velocity.hpp.
using aligator::FrameVelocityResidualTpl< _Scalar >::Motion = pinocchio::MotionTpl<Scalar> |
Definition at line 26 of file frame-velocity.hpp.
using aligator::FrameVelocityResidualTpl< _Scalar >::Data = FrameVelocityDataTpl<Scalar> |
Definition at line 27 of file frame-velocity.hpp.
aligator::FrameVelocityResidualTpl< _Scalar >::FrameVelocityResidualTpl | ( | const int | ndx, |
const int | nu, | ||
const Model & | model, | ||
const Motion & | velocity, | ||
const pinocchio::FrameIndex | id, | ||
const pinocchio::ReferenceFrame | type ) |
aligator::FrameVelocityResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
aligator::FrameVelocityResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE | ( | Scalar | ) |
|
inline |
Definition at line 36 of file frame-velocity.hpp.
|
inline |
Definition at line 37 of file frame-velocity.hpp.
|
virtual |
Implements aligator::UnaryFunctionTpl< _Scalar >.
|
virtual |
Implements aligator::UnaryFunctionTpl< _Scalar >.
|
inlinevirtual |
Instantiate a Data object.
Reimplemented from aligator::StageFunctionTpl< _Scalar >.
Definition at line 42 of file frame-velocity.hpp.
Model aligator::FrameVelocityResidualTpl< _Scalar >::pin_model_ |
Definition at line 29 of file frame-velocity.hpp.
|
protected |
Definition at line 47 of file frame-velocity.hpp.
|
protected |
Definition at line 48 of file frame-velocity.hpp.