This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \). More...
#include <aligator/modelling/centroidal/friction-cone.hpp>
Public Types | |
| using | Base = StageFunctionDataTpl<Scalar> |
| using | Matrix23s = Eigen::Matrix<Scalar, 2, 3> |
 Public Types inherited from aligator::StageFunctionDataTpl< Scalar > | |
| using | Scalar |
Public Member Functions | |
| FrictionConeDataTpl (const FrictionConeResidualTpl< Scalar > *model) | |
| Public Member Functions inherited from aligator::StageFunctionDataTpl< Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| StageFunctionDataTpl (const int ndx1, const int nu, const int ndx2, const int nr) | |
| Default constructor. | |
| virtual | ~StageFunctionDataTpl ()=default |
| Public Member Functions inherited from aligator::Cloneable< T > | |
| shared_ptr< T > | clone () const |
Public Attributes | |
| Matrix23s | Jtemp_ |
| Public Attributes inherited from aligator::StageFunctionDataTpl< Scalar > | |
| const int | ndx1 |
| const int | nu |
| const int | ndx2 |
| 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 | Jy_ |
| Jacobian with respect to \(y\). | |
| MatrixRef | Hxx_ |
| MatrixRef | Hxu_ |
| MatrixRef | Hxy_ |
| MatrixRef | Huu_ |
| MatrixRef | Huy_ |
| MatrixRef | Hyy_ |
Additional Inherited Members | |
| Protected Member Functions inherited from aligator::StageFunctionDataTpl< Scalar > | |
| virtual StageFunctionDataTpl * | clone_impl () const |
Detailed Description
struct aligator::FrictionConeDataTpl< Scalar >
This residual implements the "ice cream" friction cone for a centroidal model with state \(x = (c, h, L) \).
Considering an unilateral contact k exerting 3D force u, the residual returns a two-dimension array with first component equal to \( \epsilon - u_z \) (strictly positive normal force condition) and second component equal to * \( u_{x,y}^2 - \mu^2 * u_{z}^2 \) (non-slippage condition) with \( \epsilon \) small threshold and \( \mu \) friction coefficient.
Definition at line 52 of file friction-cone.hpp.
Member Typedef Documentation
◆ Base
| using aligator::FrictionConeDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar> |
Definition at line 54 of file friction-cone.hpp.
◆ Matrix23s
| using aligator::FrictionConeDataTpl< Scalar >::Matrix23s = Eigen::Matrix<Scalar, 2, 3> |
Definition at line 55 of file friction-cone.hpp.
Constructor & Destructor Documentation
◆ FrictionConeDataTpl()
| aligator::FrictionConeDataTpl< Scalar >::FrictionConeDataTpl | ( | const FrictionConeResidualTpl< Scalar > * | model | ) |
Member Data Documentation
◆ Jtemp_
| Matrix23s aligator::FrictionConeDataTpl< Scalar >::Jtemp_ |
Definition at line 57 of file friction-cone.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/centroidal/friction-cone.hpp
