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

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

Inheritance diagram for aligator::MultibodyWrenchConeResidualTpl< _Scalar >:

Collaboration diagram for aligator::MultibodyWrenchConeResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = StageFunctionTpl<Scalar>

using	BaseData = typename Base::Data

using	Model = pinocchio::ModelTpl<Scalar>

using	SE3 = pinocchio::SE3Tpl<Scalar>

using	Data = MultibodyWrenchConeDataTpl<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)

	MultibodyWrenchConeResidualTpl (const int ndx, const Model &model, const MatrixXs &actuation, const RigidConstraintModelVector &constraint_models, const ProxSettings &prox_settings, std::string_view contact_name, const double mu, const double half_length, const double half_width)

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
Model	pin_model_

MatrixXs	actuation_matrix_

RigidConstraintModelVector	constraint_models_

ProxSettings	prox_settings_

double	mu_

double	hL_

double	hW_

int	contact_id_

Eigen::Matrix< Scalar, 17, 6 >	Acone_

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::MultibodyWrenchConeResidualTpl< _Scalar >

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

Definition at line 20 of file multibody-wrench-cone.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

Definition at line 22 of file multibody-wrench-cone.hpp.

◆ Base

template<typename _Scalar>

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

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

◆ BaseData

template<typename _Scalar>

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

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

◆ Model

template<typename _Scalar>

using aligator::MultibodyWrenchConeResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar>

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

◆ SE3

template<typename _Scalar>

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

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

◆ Data

template<typename _Scalar>

using aligator::MultibodyWrenchConeResidualTpl< _Scalar >::Data = MultibodyWrenchConeDataTpl<Scalar>

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

◆ RigidConstraintModelVector

template<typename _Scalar>

using aligator::MultibodyWrenchConeResidualTpl< _Scalar >::RigidConstraintModelVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(

pinocchio::RigidConstraintModel)

Definition at line 29 of file multibody-wrench-cone.hpp.

◆ RigidConstraintDataVector

template<typename _Scalar>

using aligator::MultibodyWrenchConeResidualTpl< _Scalar >::RigidConstraintDataVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData)

Definition at line 31 of file multibody-wrench-cone.hpp.

◆ ProxSettings

template<typename _Scalar>

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

Definition at line 33 of file multibody-wrench-cone.hpp.

Constructor & Destructor Documentation

◆ MultibodyWrenchConeResidualTpl()

template<typename _Scalar>

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

inline

Definition at line 46 of file multibody-wrench-cone.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::MultibodyWrenchConeResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ evaluate()

template<typename _Scalar>

void aligator::MultibodyWrenchConeResidualTpl< _Scalar >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		BaseData &	data ) const

◆ computeJacobians()

template<typename _Scalar>

void aligator::MultibodyWrenchConeResidualTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	,
		const ConstVectorRef &	,
		BaseData &	data ) const

◆ createData()

template<typename _Scalar>

shared_ptr< BaseData > aligator::MultibodyWrenchConeResidualTpl< _Scalar >::createData ( ) const

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

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

Member Data Documentation

◆ pin_model_

template<typename _Scalar>

Model aligator::MultibodyWrenchConeResidualTpl< _Scalar >::pin_model_

Definition at line 35 of file multibody-wrench-cone.hpp.

◆ actuation_matrix_

template<typename _Scalar>

MatrixXs aligator::MultibodyWrenchConeResidualTpl< _Scalar >::actuation_matrix_

Definition at line 36 of file multibody-wrench-cone.hpp.

◆ constraint_models_

template<typename _Scalar>

RigidConstraintModelVector aligator::MultibodyWrenchConeResidualTpl< _Scalar >::constraint_models_

Definition at line 37 of file multibody-wrench-cone.hpp.

◆ prox_settings_

template<typename _Scalar>

ProxSettings aligator::MultibodyWrenchConeResidualTpl< _Scalar >::prox_settings_

Definition at line 38 of file multibody-wrench-cone.hpp.

◆ mu_

template<typename _Scalar>

double aligator::MultibodyWrenchConeResidualTpl< _Scalar >::mu_

Definition at line 39 of file multibody-wrench-cone.hpp.

◆ hL_

template<typename _Scalar>

double aligator::MultibodyWrenchConeResidualTpl< _Scalar >::hL_

Definition at line 40 of file multibody-wrench-cone.hpp.

◆ hW_

template<typename _Scalar>

double aligator::MultibodyWrenchConeResidualTpl< _Scalar >::hW_

Definition at line 41 of file multibody-wrench-cone.hpp.

◆ contact_id_

template<typename _Scalar>

int aligator::MultibodyWrenchConeResidualTpl< _Scalar >::contact_id_

Definition at line 42 of file multibody-wrench-cone.hpp.

◆ Acone_

template<typename _Scalar>

Eigen::Matrix<Scalar, 17, 6> aligator::MultibodyWrenchConeResidualTpl< _Scalar >::Acone_

Definition at line 44 of file multibody-wrench-cone.hpp.

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

include/aligator/modelling/multibody/multibody-wrench-cone.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BaseData

◆ Model

◆ SE3

◆ Data

◆ RigidConstraintModelVector

◆ RigidConstraintDataVector

◆ ProxSettings

Constructor & Destructor Documentation

◆ MultibodyWrenchConeResidualTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ evaluate()

◆ computeJacobians()

◆ createData()

Member Data Documentation

◆ pin_model_

◆ actuation_matrix_

◆ constraint_models_

◆ prox_settings_

◆ mu_

◆ hL_

◆ hW_

◆ contact_id_

◆ Acone_