This residual returns the derivative of centroidal momentum for a kinodynamics model. More...

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

Inheritance diagram for aligator::MultibodyFrictionConeResidualTpl< _Scalar >:

Collaboration diagram for aligator::MultibodyFrictionConeResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = StageFunctionTpl<Scalar>

using	BaseData = typename Base::Data

using	PinModel = pinocchio::ModelTpl<Scalar>

using	SE3 = pinocchio::SE3Tpl<Scalar>

using	Data = MultibodyFrictionConeDataTpl<Scalar>

using	RigidConstraintModelVector

using	RigidConstraintDataVector

using	ProxSettings = pinocchio::ProximalSettingsTpl<Scalar>

Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar

using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	MultibodyFrictionConeResidualTpl (const int ndx, const PinModel &model, const MatrixXs &actuation, const RigidConstraintModelVector &constraint_models, const ProxSettings &prox_settings, std::string_view contact_name, const double mu)

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const

void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &, BaseData &data) const

shared_ptr< BaseData >	createData () const
	Instantiate a Data object.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionTpl (const int ndx, const int nu, const int nr)

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Evaluate the function.

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Compute Jacobians of this function.

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.

virtual	~StageFunctionTpl ()=default

Public Attributes
PinModel	pin_model_

MatrixXs	actuation_matrix_

RigidConstraintModelVector	constraint_models_

ProxSettings	prox_settings_

double	mu_

int	contact_id_

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::MultibodyFrictionConeResidualTpl< _Scalar >

This residual returns the derivative of centroidal momentum for a kinodynamics model.

Definition at line 19 of file multibody-friction-cone.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::Scalar = _Scalar

Definition at line 21 of file multibody-friction-cone.hpp.

◆ Base

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 23 of file multibody-friction-cone.hpp.

◆ BaseData

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 24 of file multibody-friction-cone.hpp.

◆ PinModel

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::PinModel = pinocchio::ModelTpl<Scalar>

Definition at line 25 of file multibody-friction-cone.hpp.

◆ SE3

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::SE3 = pinocchio::SE3Tpl<Scalar>

Definition at line 26 of file multibody-friction-cone.hpp.

◆ Data

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::Data = MultibodyFrictionConeDataTpl<Scalar>

Definition at line 27 of file multibody-friction-cone.hpp.

◆ RigidConstraintModelVector

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::RigidConstraintModelVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(

pinocchio::RigidConstraintModel)

Definition at line 28 of file multibody-friction-cone.hpp.

◆ RigidConstraintDataVector

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::RigidConstraintDataVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData)

Definition at line 30 of file multibody-friction-cone.hpp.

◆ ProxSettings

template<typename _Scalar>

using aligator::MultibodyFrictionConeResidualTpl< _Scalar >::ProxSettings = pinocchio::ProximalSettingsTpl<Scalar>

Definition at line 32 of file multibody-friction-cone.hpp.

Constructor & Destructor Documentation

◆ MultibodyFrictionConeResidualTpl()

template<typename _Scalar>

aligator::MultibodyFrictionConeResidualTpl< _Scalar >::MultibodyFrictionConeResidualTpl	(	const int	ndx,
		const PinModel &	model,
		const MatrixXs &	actuation,
		const RigidConstraintModelVector &	constraint_models,
		const ProxSettings &	prox_settings,
		std::string_view	contact_name,
		const double	mu )