#include <aligator/modelling/multibody/multibody-wrench-cone.hpp>
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 | Matrix6Xs = typename math_types<Scalar>::Matrix6Xs |
using | RigidConstraintDataVector |
![]() | |
using | Scalar |
using | Scalar |
Public Member Functions | |
MultibodyWrenchConeDataTpl (const MultibodyWrenchConeResidualTpl< Scalar > *model) | |
![]() | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
StageFunctionDataTpl (const int ndx, const int nu, const int nr) | |
Default constructor. | |
StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model) | |
virtual | ~StageFunctionDataTpl ()=default |
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 | |
PinData | pin_data_ |
Pinocchio data object. | |
VectorXs | tau_ |
Matrix6Xs | temp_ |
RigidConstraintDataVector | constraint_datas_ |
pinocchio::ProximalSettingsTpl< Scalar > | settings |
![]() | |
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_ |
Definition at line 94 of file multibody-wrench-cone.hpp.
using aligator::MultibodyWrenchConeDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar> |
Definition at line 96 of file multibody-wrench-cone.hpp.
using aligator::MultibodyWrenchConeDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar> |
Definition at line 97 of file multibody-wrench-cone.hpp.
using aligator::MultibodyWrenchConeDataTpl< Scalar >::VectorXs = typename math_types<Scalar>::VectorXs |
Definition at line 98 of file multibody-wrench-cone.hpp.
using aligator::MultibodyWrenchConeDataTpl< Scalar >::MatrixXs = typename math_types<Scalar>::MatrixXs |
Definition at line 99 of file multibody-wrench-cone.hpp.
using aligator::MultibodyWrenchConeDataTpl< Scalar >::Matrix6Xs = typename math_types<Scalar>::Matrix6Xs |
Definition at line 100 of file multibody-wrench-cone.hpp.
using aligator::MultibodyWrenchConeDataTpl< Scalar >::RigidConstraintDataVector |
Definition at line 101 of file multibody-wrench-cone.hpp.
aligator::MultibodyWrenchConeDataTpl< Scalar >::MultibodyWrenchConeDataTpl | ( | const MultibodyWrenchConeResidualTpl< Scalar > * | model | ) |
PinData aligator::MultibodyWrenchConeDataTpl< Scalar >::pin_data_ |
Pinocchio data object.
Definition at line 105 of file multibody-wrench-cone.hpp.
VectorXs aligator::MultibodyWrenchConeDataTpl< Scalar >::tau_ |
Definition at line 106 of file multibody-wrench-cone.hpp.
Matrix6Xs aligator::MultibodyWrenchConeDataTpl< Scalar >::temp_ |
Definition at line 107 of file multibody-wrench-cone.hpp.
RigidConstraintDataVector aligator::MultibodyWrenchConeDataTpl< Scalar >::constraint_datas_ |
Definition at line 109 of file multibody-wrench-cone.hpp.
pinocchio::ProximalSettingsTpl<Scalar> aligator::MultibodyWrenchConeDataTpl< Scalar >::settings |
Definition at line 110 of file multibody-wrench-cone.hpp.