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

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

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

Public Types
using	Base = ODEDataTpl<Scalar>

using	VectorXs = typename math_types<Scalar>::VectorXs

using	MatrixXs = typename math_types<Scalar>::MatrixXs

using	PinDataType = pinocchio::DataTpl<Scalar>

using	RigidConstraintDataVector

Public Member Functions
	MultibodyConstraintFwdDataTpl (const MultibodyConstraintFwdDynamicsTpl< Scalar > &cont_dyn)

Public Attributes
VectorXs	tau_

MatrixXs	dtau_dx_

MatrixXs	dtau_du_

RigidConstraintDataVector	constraint_datas_

pinocchio::ProximalSettingsTpl< Scalar >	settings

PinDataType	pin_data_
	shared_ptr to the underlying pinocchio::DataTpl object.

Detailed Description

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

Definition at line 58 of file multibody-constraint-fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename Scalar >

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::Base = ODEDataTpl<Scalar>

Definition at line 59 of file multibody-constraint-fwd.hpp.

◆ VectorXs

template<typename Scalar >

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

Definition at line 60 of file multibody-constraint-fwd.hpp.

◆ MatrixXs

template<typename Scalar >

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::MatrixXs = typename math_types<Scalar>::MatrixXs

Definition at line 61 of file multibody-constraint-fwd.hpp.

◆ PinDataType

template<typename Scalar >

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::PinDataType = pinocchio::DataTpl<Scalar>

Definition at line 62 of file multibody-constraint-fwd.hpp.

◆ RigidConstraintDataVector

template<typename Scalar >

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::RigidConstraintDataVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData)

Definition at line 63 of file multibody-constraint-fwd.hpp.

Constructor & Destructor Documentation

◆ MultibodyConstraintFwdDataTpl()

template<typename Scalar >

aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::MultibodyConstraintFwdDataTpl ( const MultibodyConstraintFwdDynamicsTpl< Scalar > & cont_dyn )