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)
	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 = ndx1 + nu
	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 = _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.

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

• include/aligator/modelling/multibody/gravity-compensation-residual.hpp