aligator  0.13.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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aligator::MultibodyWrenchConeDataTpl< Scalar > Struct Template Reference

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

Inheritance diagram for aligator::MultibodyWrenchConeDataTpl< Scalar >:
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Collaboration diagram for aligator::MultibodyWrenchConeDataTpl< 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 Matrix6Xs = typename math_types<Scalar>::Matrix6Xs
 
using RigidConstraintDataVector
 
- Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using Scalar
 
using Scalar
 

Public Member Functions

 MultibodyWrenchConeDataTpl (const MultibodyWrenchConeResidualTpl< Scalar > *model)
 
- 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
 
 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< 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::MultibodyWrenchConeDataTpl< Scalar >

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

Member Typedef Documentation

◆ Base

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

◆ PinData

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

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

◆ VectorXs

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

Definition at line 98 of file multibody-wrench-cone.hpp.

◆ MatrixXs

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

Definition at line 99 of file multibody-wrench-cone.hpp.

◆ Matrix6Xs

template<typename Scalar>
using aligator::MultibodyWrenchConeDataTpl< Scalar >::Matrix6Xs = typename math_types<Scalar>::Matrix6Xs

Definition at line 100 of file multibody-wrench-cone.hpp.

◆ RigidConstraintDataVector

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

Definition at line 101 of file multibody-wrench-cone.hpp.

Constructor & Destructor Documentation

◆ MultibodyWrenchConeDataTpl()

template<typename Scalar>
aligator::MultibodyWrenchConeDataTpl< Scalar >::MultibodyWrenchConeDataTpl ( const MultibodyWrenchConeResidualTpl< Scalar > * model)

Member Data Documentation

◆ pin_data_

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

Pinocchio data object.

Definition at line 105 of file multibody-wrench-cone.hpp.

◆ tau_

Definition at line 106 of file multibody-wrench-cone.hpp.

◆ temp_

Definition at line 107 of file multibody-wrench-cone.hpp.

◆ constraint_datas_

Definition at line 109 of file multibody-wrench-cone.hpp.

◆ settings

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

Definition at line 110 of file multibody-wrench-cone.hpp.


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