#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 = ContinuousDynamicsDataTpl<Scalar>

using	VectorXs = typename math_types<Scalar>::VectorXs

using	MatrixXs = typename math_types<Scalar>::MatrixXs

using	PinDataType = pinocchio::DataTpl<Scalar>

using	RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar>

using	RigidConstraintDataVector

Public Types inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
using	Scalar

using	Scalar

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

Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

ConstMatrixRef	Jx () const

ConstMatrixRef	Ju () const

MatrixRef	Jx ()

MatrixRef	Ju ()

	ContinuousDynamicsDataTpl (const int ndx, const int nu)

virtual	~ContinuousDynamicsDataTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

ConstMatrixRef	Jx () const

MatrixRef	Jx ()

ConstMatrixRef	Ju () const

MatrixRef	Ju ()

	ContinuousDynamicsDataTpl (const int ndx, const int nu)

virtual	~ContinuousDynamicsDataTpl ()=default

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.

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.

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::MultibodyConstraintFwdDataTpl< Scalar >

Definition at line 64 of file multibody-constraint-fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename Scalar>

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

Definition at line 65 of file multibody-constraint-fwd.hpp.

◆ VectorXs

template<typename Scalar>

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

Definition at line 66 of file multibody-constraint-fwd.hpp.

◆ MatrixXs

template<typename Scalar>

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

Definition at line 67 of file multibody-constraint-fwd.hpp.

◆ PinDataType

template<typename Scalar>

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

Definition at line 68 of file multibody-constraint-fwd.hpp.

◆ RigidConstraintData

template<typename Scalar>

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar>

Definition at line 71 of file multibody-constraint-fwd.hpp.

◆ RigidConstraintDataVector

template<typename Scalar>

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

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintData)

aligator::dynamics::MultibodyConstraintFwdDataTpl::RigidConstraintData

pinocchio::RigidConstraintDataTpl< Scalar > RigidConstraintData

Definition multibody-constraint-fwd.hpp:71

Definition at line 73 of file multibody-constraint-fwd.hpp.

Constructor & Destructor Documentation

◆ MultibodyConstraintFwdDataTpl()

template<typename Scalar>

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