aligator  0.13.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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Public Types | Public Member Functions | Public Attributes | List of all members
aligator::MultibodyWrenchConeResidualTpl< _Scalar > Struct Template Reference

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 >:
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Collaboration diagram for aligator::MultibodyWrenchConeResidualTpl< _Scalar >:
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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, const std::string &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,
const std::string & 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 88 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: