aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::MultibodyFrictionConeDataTpl< Scalar > Struct Template Reference

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

Inheritance diagram for aligator::MultibodyFrictionConeDataTpl< Scalar >:
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Collaboration diagram for aligator::MultibodyFrictionConeDataTpl< Scalar >:
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Public Types

using Base = StageFunctionDataTpl<Scalar>
 
using PinData = pinocchio::DataTpl<Scalar>
 
using VectorXs = typename math_types<Scalar>::VectorXs
 
using MatrixXs = typename math_types<Scalar>::MatrixXs
 
using RigidConstraintDataVector
 
- Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using Scalar
 
using Scalar
 

Public Member Functions

 MultibodyFrictionConeDataTpl (const MultibodyFrictionConeResidualTpl< Scalar > *model)
 
- 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

PinData pin_data_
 Pinocchio data object.
 
VectorXs tau_
 
MatrixXs temp_
 
Eigen::Matrix< Scalar, 1, 3 > dcone_df_
 
RigidConstraintDataVector constraint_datas_
 
pinocchio::ProximalSettingsTpl< Scalarsettings
 
- 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_
 

Detailed Description

template<typename Scalar>
struct aligator::MultibodyFrictionConeDataTpl< Scalar >

Definition at line 81 of file multibody-friction-cone.hpp.

Member Typedef Documentation

◆ Base

Definition at line 83 of file multibody-friction-cone.hpp.

◆ PinData

template<typename Scalar>
using aligator::MultibodyFrictionConeDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

Definition at line 84 of file multibody-friction-cone.hpp.

◆ VectorXs

template<typename Scalar>
using aligator::MultibodyFrictionConeDataTpl< Scalar >::VectorXs = typename math_types<Scalar>::VectorXs

Definition at line 85 of file multibody-friction-cone.hpp.

◆ MatrixXs

template<typename Scalar>
using aligator::MultibodyFrictionConeDataTpl< Scalar >::MatrixXs = typename math_types<Scalar>::MatrixXs

Definition at line 86 of file multibody-friction-cone.hpp.

◆ RigidConstraintDataVector

template<typename Scalar>
using aligator::MultibodyFrictionConeDataTpl< Scalar >::RigidConstraintDataVector
Initial value:
PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData)

Definition at line 87 of file multibody-friction-cone.hpp.

Constructor & Destructor Documentation

◆ MultibodyFrictionConeDataTpl()

template<typename Scalar>
aligator::MultibodyFrictionConeDataTpl< Scalar >::MultibodyFrictionConeDataTpl ( const MultibodyFrictionConeResidualTpl< Scalar > * model)

Member Data Documentation

◆ pin_data_

template<typename Scalar>
PinData aligator::MultibodyFrictionConeDataTpl< Scalar >::pin_data_

Pinocchio data object.

Definition at line 91 of file multibody-friction-cone.hpp.

◆ tau_

Definition at line 92 of file multibody-friction-cone.hpp.

◆ temp_

Definition at line 93 of file multibody-friction-cone.hpp.

◆ dcone_df_

template<typename Scalar>
Eigen::Matrix<Scalar, 1, 3> aligator::MultibodyFrictionConeDataTpl< Scalar >::dcone_df_

Definition at line 94 of file multibody-friction-cone.hpp.

◆ constraint_datas_

Definition at line 96 of file multibody-friction-cone.hpp.

◆ settings

template<typename Scalar>
pinocchio::ProximalSettingsTpl<Scalar> aligator::MultibodyFrictionConeDataTpl< Scalar >::settings

Definition at line 97 of file multibody-friction-cone.hpp.


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