aligator  0.10.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Public Types | Public Member Functions | Protected Attributes | List of all members
aligator::LinearMomentumResidualTpl< _Scalar > Struct Template Reference

This residual returns the linear momentum for a centroidal model with state \(x = (c, h, L) \). More...

#include <aligator/modelling/centroidal/linear-momentum.hpp>

Inheritance diagram for aligator::LinearMomentumResidualTpl< _Scalar >:
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Collaboration diagram for aligator::LinearMomentumResidualTpl< _Scalar >:
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Public Types

using Scalar = _Scalar
 
using BaseData = typename Base::Data
 
using Data = LinearMomentumDataTpl<Scalar>
 
- Public Types inherited from aligator::UnaryFunctionTpl< _Scalar >
using Scalar
 
using Base
 
using Data
 
- Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using Scalar
 
using Data
 

Public Member Functions

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
 ALIGATOR_UNARY_FUNCTION_INTERFACE (Scalar)
 
 LinearMomentumResidualTpl (const int ndx, const int nu, const Vector3s &h_ref)
 
const Vector3s & getReference () const
 
void setReference (const Eigen::Ref< const Vector3s > &h_new)
 
void evaluate (const ConstVectorRef &x, BaseData &data) const
 
void computeJacobians (const ConstVectorRef &, BaseData &data) const
 
shared_ptr< BaseData > createData () const
 Instantiate a Data object.
 
- Public Member Functions inherited from aligator::UnaryFunctionTpl< _Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
 
void evaluate (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override
 
void computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override
 
virtual void computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const
 
void computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override
 
- Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
 
 StageFunctionTpl (const int ndx, const int nu, const int nr)
 
virtual ~StageFunctionTpl ()=default
 

Protected Attributes

Vector3s h_ref_
 

Additional Inherited Members

- Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int ndx1
 Current state dimension.
 
const int nu
 Control dimension.
 
const int nr
 Function codimension.
 

Detailed Description

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

This residual returns the linear momentum for a centroidal model with state \(x = (c, h, L) \).

The residual returns the middle three components of the state: \(r(x) = h - h_r \) with \( h \) linear momentym and \( h_r \) desired reference for linear momentum.

Definition at line 19 of file linear-momentum.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >
using aligator::LinearMomentumResidualTpl< _Scalar >::Scalar = _Scalar

Definition at line 21 of file linear-momentum.hpp.

◆ BaseData

template<typename _Scalar >
using aligator::LinearMomentumResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 24 of file linear-momentum.hpp.

◆ Data

template<typename _Scalar >
using aligator::LinearMomentumResidualTpl< _Scalar >::Data = LinearMomentumDataTpl<Scalar>

Definition at line 25 of file linear-momentum.hpp.

Constructor & Destructor Documentation

◆ LinearMomentumResidualTpl()

template<typename _Scalar >
aligator::LinearMomentumResidualTpl< _Scalar >::LinearMomentumResidualTpl ( const int ndx,
const int nu,
const Vector3s & h_ref )
inline

Definition at line 27 of file linear-momentum.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >
aligator::LinearMomentumResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()

template<typename _Scalar >
aligator::LinearMomentumResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE ( Scalar )

◆ getReference()

template<typename _Scalar >
const Vector3s & aligator::LinearMomentumResidualTpl< _Scalar >::getReference ( ) const
inline

Definition at line 30 of file linear-momentum.hpp.

◆ setReference()

template<typename _Scalar >
void aligator::LinearMomentumResidualTpl< _Scalar >::setReference ( const Eigen::Ref< const Vector3s > & h_new)
inline

Definition at line 31 of file linear-momentum.hpp.

◆ evaluate()

template<typename _Scalar >
void aligator::LinearMomentumResidualTpl< _Scalar >::evaluate ( const ConstVectorRef & x,
BaseData & data ) const
virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

◆ computeJacobians()

template<typename _Scalar >
void aligator::LinearMomentumResidualTpl< _Scalar >::computeJacobians ( const ConstVectorRef & ,
BaseData & data ) const
virtual

Implements aligator::UnaryFunctionTpl< _Scalar >.

◆ createData()

template<typename _Scalar >
shared_ptr< BaseData > aligator::LinearMomentumResidualTpl< _Scalar >::createData ( ) const
inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 37 of file linear-momentum.hpp.

Member Data Documentation

◆ h_ref_

template<typename _Scalar >
Vector3s aligator::LinearMomentumResidualTpl< _Scalar >::h_ref_
protected

Definition at line 42 of file linear-momentum.hpp.

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