aligator::dynamics::KinodynamicsFwdDataTpl< Scalar > Struct Template Reference

#include <aligator/modelling/dynamics/kinodynamics-fwd.hpp>

Inheritance diagram for aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >:

Collaboration diagram for aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >:

Public Types
using	Base = ContinuousDynamicsDataTpl<Scalar>
using	PinData = pinocchio::DataTpl<Scalar>
using	VectorXs = typename math_types<Scalar>::VectorXs
using	Matrix6Xs = typename math_types<Scalar>::Matrix6Xs
using	Matrix3Xs = typename math_types<Scalar>::Matrix3Xs
using	Matrix3s = Eigen::Matrix<Scalar, 3, 3>
using	Matrix6s = Eigen::Matrix<Scalar, 6, 6>
using	Vector6s = Eigen::Matrix<Scalar, 6, 1>
Public Types inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
using	Scalar = _Scalar

Public Member Functions
	KinodynamicsFwdDataTpl (const KinodynamicsFwdDynamicsTpl< Scalar > *model)
Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ContinuousDynamicsDataTpl (const int ndx, const int nu)
virtual	~ContinuousDynamicsDataTpl ()=default

Public Attributes
PinData	pin_data_
Matrix6Xs	dh_dq_
Matrix6Xs	dhdot_dq_
Matrix6Xs	dhdot_dv_
Matrix6Xs	dhdot_da_
Matrix6Xs	temp1_
Matrix3Xs	temp2_
Matrix6Xs	fJf_
VectorXs	v0_
VectorXs	a0_
Vector6s	cforces_
Matrix3s	Jtemp_
Matrix6s	Agu_inv_
Eigen::PartialPivLU< Eigen::Matrix< Scalar, 6, 6 > >	PivLU_
Public Attributes inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
VectorXs	value_
	Residual value \(e = f(x,u,\dot{x})\).
MatrixXs	Jx_
	Derivative \(\partial f/{\partial x}\).
MatrixXs	Ju_
	Derivative \(\partial f/{\partial u}\).
MatrixXs	Jxdot_
	Derivative \(\partial f/\partial\dot{x}\).
VectorXs	xdot_
	Time derivative \(\dot{x} = f(x, u)\), output of ODE model.

Detailed Description

template<typename Scalar>
struct aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >

Definition at line 69 of file kinodynamics-fwd.hpp.

Member Typedef Documentation

Base

template<typename Scalar >

using aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::Base = ContinuousDynamicsDataTpl<Scalar>

Definition at line 70 of file kinodynamics-fwd.hpp.

PinData

template<typename Scalar >

using aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

Definition at line 71 of file kinodynamics-fwd.hpp.

VectorXs

template<typename Scalar >

using aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::VectorXs = typename math_types<Scalar>::VectorXs

Definition at line 72 of file kinodynamics-fwd.hpp.

Matrix6Xs

template<typename Scalar >

using aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::Matrix6Xs = typename math_types<Scalar>::Matrix6Xs

Definition at line 73 of file kinodynamics-fwd.hpp.

Matrix3Xs

template<typename Scalar >

using aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::Matrix3Xs = typename math_types<Scalar>::Matrix3Xs

Definition at line 74 of file kinodynamics-fwd.hpp.

Matrix3s

template<typename Scalar >

using aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::Matrix3s = Eigen::Matrix<Scalar, 3, 3>

Definition at line 75 of file kinodynamics-fwd.hpp.

Matrix6s

template<typename Scalar >

using aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::Matrix6s = Eigen::Matrix<Scalar, 6, 6>

Definition at line 76 of file kinodynamics-fwd.hpp.

Vector6s

template<typename Scalar >

using aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::Vector6s = Eigen::Matrix<Scalar, 6, 1>

Definition at line 77 of file kinodynamics-fwd.hpp.

Constructor & Destructor Documentation

KinodynamicsFwdDataTpl()

template<typename Scalar >

aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::KinodynamicsFwdDataTpl

(

const KinodynamicsFwdDynamicsTpl< Scalar > *

model

)

Member Data Documentation

pin_data_

template<typename Scalar >

PinData aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::pin_data_

Definition at line 79 of file kinodynamics-fwd.hpp.

dh_dq_

template<typename Scalar >

Matrix6Xs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::dh_dq_

Definition at line 80 of file kinodynamics-fwd.hpp.

dhdot_dq_

template<typename Scalar >

Matrix6Xs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::dhdot_dq_

Definition at line 81 of file kinodynamics-fwd.hpp.

dhdot_dv_

template<typename Scalar >

Matrix6Xs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::dhdot_dv_

Definition at line 82 of file kinodynamics-fwd.hpp.

dhdot_da_

template<typename Scalar >

Matrix6Xs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::dhdot_da_

Definition at line 83 of file kinodynamics-fwd.hpp.

temp1_

template<typename Scalar >

Matrix6Xs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::temp1_

Definition at line 84 of file kinodynamics-fwd.hpp.

temp2_

template<typename Scalar >

Matrix3Xs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::temp2_

Definition at line 85 of file kinodynamics-fwd.hpp.

fJf_

template<typename Scalar >

Matrix6Xs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::fJf_

Definition at line 86 of file kinodynamics-fwd.hpp.

v0_

template<typename Scalar >

VectorXs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::v0_

Definition at line 87 of file kinodynamics-fwd.hpp.

a0_

template<typename Scalar >

VectorXs aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::a0_

Definition at line 88 of file kinodynamics-fwd.hpp.

cforces_

template<typename Scalar >

Vector6s aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::cforces_

Definition at line 90 of file kinodynamics-fwd.hpp.

Jtemp_

template<typename Scalar >

Matrix3s aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::Jtemp_

Definition at line 91 of file kinodynamics-fwd.hpp.

Agu_inv_

template<typename Scalar >

Matrix6s aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::Agu_inv_

Definition at line 92 of file kinodynamics-fwd.hpp.

PivLU_

template<typename Scalar >

Eigen::PartialPivLU<Eigen::Matrix<Scalar, 6, 6> > aligator::dynamics::KinodynamicsFwdDataTpl< Scalar >::PivLU_

Definition at line 93 of file kinodynamics-fwd.hpp.

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

• include/aligator/modelling/dynamics/kinodynamics-fwd.hpp