Constraint multibody forward dynamics, using Pinocchio. More...

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

Inheritance diagram for aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >:

Collaboration diagram for aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = ODEAbstractTpl<Scalar>

using	BaseData = ContinuousDynamicsDataTpl<Scalar>

using	ContDataAbstract = ContinuousDynamicsDataTpl<Scalar>

using	Data = MultibodyConstraintFwdDataTpl<Scalar>

using	RigidConstraintModelVector

using	RigidConstraintDataVector

using	ProxSettings = pinocchio::ProximalSettingsTpl<Scalar>

using	Manifold = proxsuite::nlp::MultibodyPhaseSpace<Scalar>

Public Types inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
using	Scalar = _Scalar

using	Base = ContinuousDynamicsAbstractTpl<Scalar>

using	Data = ContinuousDynamicsDataTpl<Scalar>

Public Types inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
using	Scalar

using	Manifold

using	ManifoldPtr

using	Data

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

const Manifold &	space () const

int	ntau () const

	MultibodyConstraintFwdDynamicsTpl (const Manifold &state, const MatrixXs &actuation, const RigidConstraintModelVector &constraint_models, const ProxSettings &prox_settings)

virtual void	forward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Evaluate the ODE vector field: this returns the value of \(\dot{x}\).

virtual void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Evaluate the vector field Jacobians.

shared_ptr< ContDataAbstract >	createData () const
	Create a data holder instance.

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

virtual	~ODEAbstractTpl ()=default

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const override

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const override

Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)

int	ndx () const

int	nu () const

const Manifold &	space () const
	Return a reference to the state space.

	ContinuousDynamicsAbstractTpl (ManifoldPtr space, const int nu)

virtual	~ContinuousDynamicsAbstractTpl ()=default

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const=0
	Evaluate the vector field at a point \((x, u)\).

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const=0
	Differentiate the vector field.

Public Attributes
Manifold	space_

MatrixXs	actuation_matrix_

RigidConstraintModelVector	constraint_models_

ProxSettings	prox_settings_

Public Attributes inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
const int	nu_
	Control space dimension.

ManifoldPtr	space_
	State space.

Public Attributes inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
ManifoldPtr	space_
	State space.

const int	nu_
	Control space dimension.

Detailed Description

template<typename _Scalar>
struct aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >

Constraint multibody forward dynamics, using Pinocchio.

Definition at line 20 of file multibody-constraint-fwd.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::Scalar = _Scalar

Definition at line 22 of file multibody-constraint-fwd.hpp.

◆ Base

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::Base = ODEAbstractTpl<Scalar>

Definition at line 24 of file multibody-constraint-fwd.hpp.

◆ BaseData

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::BaseData = ContinuousDynamicsDataTpl<Scalar>

Definition at line 25 of file multibody-constraint-fwd.hpp.

◆ ContDataAbstract

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::ContDataAbstract = ContinuousDynamicsDataTpl<Scalar>

Definition at line 26 of file multibody-constraint-fwd.hpp.

◆ Data

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::Data = MultibodyConstraintFwdDataTpl<Scalar>

Definition at line 27 of file multibody-constraint-fwd.hpp.

◆ RigidConstraintModelVector

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::RigidConstraintModelVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(

pinocchio::RigidConstraintModelTpl<Scalar>)

Definition at line 30 of file multibody-constraint-fwd.hpp.

◆ RigidConstraintDataVector

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::RigidConstraintDataVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData)

Definition at line 32 of file multibody-constraint-fwd.hpp.

◆ ProxSettings

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::ProxSettings = pinocchio::ProximalSettingsTpl<Scalar>

Definition at line 35 of file multibody-constraint-fwd.hpp.

◆ Manifold

template<typename _Scalar >

using aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::Manifold = proxsuite::nlp::MultibodyPhaseSpace<Scalar>

Definition at line 36 of file multibody-constraint-fwd.hpp.

Constructor & Destructor Documentation

◆ MultibodyConstraintFwdDynamicsTpl()

template<typename _Scalar >

aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::MultibodyConstraintFwdDynamicsTpl	(	const Manifold &	state,
		const MatrixXs &	actuation,
		const RigidConstraintModelVector &	constraint_models,
		const ProxSettings &	prox_settings )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ space()

template<typename _Scalar >

const Manifold & aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::space ( ) const

inline

Definition at line 43 of file multibody-constraint-fwd.hpp.

◆ ntau()

template<typename _Scalar >

int aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::ntau ( ) const

inline

Definition at line 44 of file multibody-constraint-fwd.hpp.

◆ forward()

template<typename _Scalar >

virtual void aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::forward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		BaseData &	data ) const

virtual

Evaluate the ODE vector field: this returns the value of \(\dot{x}\).

Implements aligator::dynamics::ODEAbstractTpl< _Scalar >.

◆ dForward()

template<typename _Scalar >

virtual void aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >::dForward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		BaseData &	data ) const