aligator::FrictionConeResidualTpl< _Scalar > Struct Template Reference

#include <aligator/modelling/centroidal/friction-cone.hpp>

Inheritance diagram for aligator::FrictionConeResidualTpl< _Scalar >:

Collaboration diagram for aligator::FrictionConeResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = StageFunctionTpl<Scalar>
using	BaseData = typename Base::Data
using	Data = FrictionConeDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	FrictionConeResidualTpl (const int ndx, const int nu, const int k, const double mu, const double epsilon)
void	evaluate (const ConstVectorRef &, const ConstVectorRef &u, const ConstVectorRef &, BaseData &data) const
void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &u, const ConstVectorRef &, BaseData &data) const
shared_ptr< BaseData >	createData () const
	Instantiate a Data object.
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 void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Evaluate the function.
virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Compute Jacobians of this function.
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default

Protected Attributes
int	k_
double	mu2_
double	epsilon_

Additional Inherited Members
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.

Detailed Description

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

Definition at line 22 of file friction-cone.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 25 of file friction-cone.hpp.

Base

template<typename _Scalar >

using aligator::FrictionConeResidualTpl< _Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 27 of file friction-cone.hpp.

BaseData

template<typename _Scalar >

using aligator::FrictionConeResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 28 of file friction-cone.hpp.

Data

template<typename _Scalar >

using aligator::FrictionConeResidualTpl< _Scalar >::Data = FrictionConeDataTpl<Scalar>

Definition at line 29 of file friction-cone.hpp.

Constructor & Destructor Documentation

FrictionConeResidualTpl()

template<typename _Scalar >

aligator::FrictionConeResidualTpl< _Scalar >::FrictionConeResidualTpl ( const int ndx, const int nu, const int k, const double mu, const double epsilon )

inline

Definition at line 31 of file friction-cone.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::FrictionConeResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar >

void aligator::FrictionConeResidualTpl< _Scalar >::evaluate	(	const ConstVectorRef &	,
		const ConstVectorRef &	u,
		const ConstVectorRef &	,
		BaseData &	data ) const

computeJacobians()

template<typename _Scalar >

void aligator::FrictionConeResidualTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	,
		const ConstVectorRef &	u,
		const ConstVectorRef &	,
		BaseData &	data ) const

createData()

template<typename _Scalar >

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

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 41 of file friction-cone.hpp.

Member Data Documentation

k_

template<typename _Scalar >

int aligator::FrictionConeResidualTpl< _Scalar >::k_

protected

Definition at line 46 of file friction-cone.hpp.

mu2_

template<typename _Scalar >

double aligator::FrictionConeResidualTpl< _Scalar >::mu2_

protected

Definition at line 47 of file friction-cone.hpp.

epsilon_

template<typename _Scalar >

double aligator::FrictionConeResidualTpl< _Scalar >::epsilon_

protected

Definition at line 48 of file friction-cone.hpp.

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

• include/aligator/modelling/centroidal/friction-cone.hpp