This residual implements the wrench cone for a centroidal model with control \(u = (f_1,...,f_c) \) with \(f_k\) 6D spatial force. More...
#include <aligator/modelling/centroidal/wrench-cone.hpp>
Public Types | |
| using | Base = StageFunctionDataTpl<Scalar> |
 Public Types inherited from aligator::StageFunctionDataTpl< Scalar > | |
| using | Scalar |
Public Member Functions | |
| WrenchConeDataTpl (const WrenchConeResidualTpl< Scalar > *model) | |
| Public Member Functions inherited from aligator::StageFunctionDataTpl< Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| StageFunctionDataTpl (const int ndx1, const int nu, const int ndx2, const int nr) | |
| Default constructor. | |
| virtual | ~StageFunctionDataTpl ()=default |
| Public Member Functions inherited from aligator::Cloneable< T > | |
| shared_ptr< T > | clone () const |
Public Attributes | |
| Eigen::Matrix< Scalar, 17, 6 > | Jtemp_ |
| Public Attributes inherited from aligator::StageFunctionDataTpl< Scalar > | |
| const int | ndx1 |
| const int | nu |
| const int | ndx2 |
| 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 | Jy_ |
| Jacobian with respect to \(y\). | |
| MatrixRef | Hxx_ |
| MatrixRef | Hxu_ |
| MatrixRef | Hxy_ |
| MatrixRef | Huu_ |
| MatrixRef | Huy_ |
| MatrixRef | Hyy_ |
Additional Inherited Members | |
| Protected Member Functions inherited from aligator::StageFunctionDataTpl< Scalar > | |
| virtual StageFunctionDataTpl * | clone_impl () const |
Detailed Description
struct aligator::WrenchConeDataTpl< Scalar >
This residual implements the wrench cone for a centroidal model with control \(u = (f_1,...,f_c) \) with \(f_k\) 6D spatial force.
Considering an contact k exerting 6D force f, the residual returns \( A f \) with \(A \in \mathbb{R}^{17 \times 6}\) the wrench cone matrix gathering Coulomb friction inequalities, CoP inequalities and limits on vertical torque. The usual wrench cone approximation with 4 facets is leveraged here. The frame in contact is supposed to be rectangular.
Definition at line 55 of file wrench-cone.hpp.
Member Typedef Documentation
◆ Base
| using aligator::WrenchConeDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar> |
Definition at line 57 of file wrench-cone.hpp.
Constructor & Destructor Documentation
◆ WrenchConeDataTpl()
| aligator::WrenchConeDataTpl< Scalar >::WrenchConeDataTpl | ( | const WrenchConeResidualTpl< Scalar > * | model | ) |
Member Data Documentation
◆ Jtemp_
| Eigen::Matrix<Scalar, 17, 6> aligator::WrenchConeDataTpl< Scalar >::Jtemp_ |
Definition at line 59 of file wrench-cone.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/centroidal/wrench-cone.hpp
