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aligator::GravityCompensationResidualTpl< _Scalar >::Data Struct Reference
#include <aligator/modelling/multibody/gravity-compensation-residual.hpp>
Inheritance diagram for aligator::GravityCompensationResidualTpl< _Scalar >::Data:
Collaboration diagram for aligator::GravityCompensationResidualTpl< _Scalar >::Data:
Public Member Functions | |
| Data (const GravityCompensationResidualTpl &resdl) | |
 Public Member Functions inherited from aligator::StageFunctionDataTpl< Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| ConstMatrixRef | Jx () const |
| ConstMatrixRef | Ju () const |
| MatrixRef | Jx () |
| MatrixRef | Ju () |
| StageFunctionDataTpl (const int ndx, const int nu, const int nr) | |
| Default constructor. | |
| StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model) | |
| virtual | ~StageFunctionDataTpl ()=default |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| ConstMatrixRef | Jx () const |
| MatrixRef | Jx () |
| ConstMatrixRef | Ju () const |
| MatrixRef | Ju () |
| StageFunctionDataTpl (const int ndx, const int nu, const int nr) | |
| Default constructor. | |
| StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model) | |
| virtual | ~StageFunctionDataTpl ()=default |
Public Attributes | |
| pinocchio::DataTpl< Scalar > | pin_data_ |
| VectorXs | tmp_torque_ |
| MatrixXs | gravity_partial_dq_ |
| Public Attributes inherited from aligator::StageFunctionDataTpl< Scalar > | |
| const int | ndx1 |
| const int | nu |
| 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 | Hxx_ |
| MatrixRef | Hxu_ |
| MatrixRef | Huu_ |
| const int | ndx1 |
| const int | nu |
| 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 | Hxx_ |
| MatrixRef | Hxu_ |
| MatrixRef | Huu_ |
Additional Inherited Members | |
| Public Types inherited from aligator::StageFunctionDataTpl< Scalar > | |
| using | Scalar |
| using | Scalar |
Detailed Description
template<typename _Scalar>
struct aligator::GravityCompensationResidualTpl< _Scalar >::Data
struct aligator::GravityCompensationResidualTpl< _Scalar >::Data
Definition at line 33 of file gravity-compensation-residual.hpp.
Constructor & Destructor Documentation
◆ Data()
template<typename _Scalar>
| aligator::GravityCompensationResidualTpl< _Scalar >::Data::Data | ( | const GravityCompensationResidualTpl & | resdl | ) |
Member Data Documentation
◆ pin_data_
template<typename _Scalar>
| pinocchio::DataTpl<Scalar> aligator::GravityCompensationResidualTpl< _Scalar >::Data::pin_data_ |
Definition at line 34 of file gravity-compensation-residual.hpp.
◆ tmp_torque_
template<typename _Scalar>
| VectorXs aligator::GravityCompensationResidualTpl< _Scalar >::Data::tmp_torque_ |
Definition at line 35 of file gravity-compensation-residual.hpp.
◆ gravity_partial_dq_
template<typename _Scalar>
| MatrixXs aligator::GravityCompensationResidualTpl< _Scalar >::Data::gravity_partial_dq_ |
Definition at line 36 of file gravity-compensation-residual.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/multibody/gravity-compensation-residual.hpp
