aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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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:
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Collaboration diagram for aligator::GravityCompensationResidualTpl< _Scalar >::Data:
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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< Scalarpin_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

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: