aligator::AngularMomentumResidualTpl< _Scalar > Struct Template Reference

This residual returns the angular momentum for a centroidal model with state \(x = (c, h, L) \). More...

#include <aligator/modelling/centroidal/angular-momentum.hpp>

Inheritance diagram for aligator::AngularMomentumResidualTpl< _Scalar >:

Collaboration diagram for aligator::AngularMomentumResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	BaseData = typename Base::Data
using	Data = AngularMomentumDataTpl<Scalar>
Public Types inherited from aligator::UnaryFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Base = StageFunctionTpl<Scalar>
using	Data = StageFunctionDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ALIGATOR_UNARY_FUNCTION_INTERFACE (Scalar)
	AngularMomentumResidualTpl (const int ndx, const int nu, const Vector3s &L_ref)
const Vector3s &	getReference () const
void	setReference (const Eigen::Ref< const Vector3s > &L_new)
void	evaluate (const ConstVectorRef &x, BaseData &data) const
void	computeJacobians (const ConstVectorRef &, BaseData &data) const
shared_ptr< BaseData >	createData () const
	Instantiate a Data object.
Public Member Functions inherited from aligator::UnaryFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
virtual void	evaluate (const ConstVectorRef &x, Data &data) const =0
virtual void	computeJacobians (const ConstVectorRef &x, Data &data) const =0
virtual void	computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override
	Compute Jacobians of this function.
void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override
	Compute the vector-hessian products of this function.
Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual	~StageFunctionTpl ()=default

Protected Attributes
Vector3s	L_ref_

Additional Inherited Members
Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.

Detailed Description

template<typename _Scalar>
struct aligator::AngularMomentumResidualTpl< _Scalar >

This residual returns the angular momentum for a centroidal model with state \(x = (c, h, L) \).

The residual returns the last three components of the state: \(r(x) = L - L_r \) with \( L \) angular momentym and \( L_r \) desired reference for angular momentum.

Definition at line 19 of file angular-momentum.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::AngularMomentumResidualTpl< _Scalar >::Scalar = _Scalar

Definition at line 22 of file angular-momentum.hpp.

BaseData

template<typename _Scalar>

using aligator::AngularMomentumResidualTpl< _Scalar >::BaseData = typename Base::Data

Definition at line 25 of file angular-momentum.hpp.

Data

template<typename _Scalar>

using aligator::AngularMomentumResidualTpl< _Scalar >::Data = AngularMomentumDataTpl<Scalar>

Definition at line 26 of file angular-momentum.hpp.

Constructor & Destructor Documentation

AngularMomentumResidualTpl()

template<typename _Scalar>

aligator::AngularMomentumResidualTpl< _Scalar >::AngularMomentumResidualTpl ( const int ndx, const int nu, const Vector3s & L_ref )

inline

Definition at line 28 of file angular-momentum.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::AngularMomentumResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

ALIGATOR_UNARY_FUNCTION_INTERFACE()

template<typename _Scalar>

aligator::AngularMomentumResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE

(

Scalar

)

getReference()

template<typename _Scalar>

const Vector3s & aligator::AngularMomentumResidualTpl< _Scalar >::getReference ( ) const

inline

Definition at line 32 of file angular-momentum.hpp.

setReference()

template<typename _Scalar>

void aligator::AngularMomentumResidualTpl< _Scalar >::setReference ( const Eigen::Ref< const Vector3s > & L_new )

inline

Definition at line 33 of file angular-momentum.hpp.

evaluate()

template<typename _Scalar>

void aligator::AngularMomentumResidualTpl< _Scalar >::evaluate	(	const ConstVectorRef &	x,
		BaseData &	data ) const

computeJacobians()

template<typename _Scalar>

void aligator::AngularMomentumResidualTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	,
		BaseData &	data ) const

createData()

template<typename _Scalar>

shared_ptr< BaseData > aligator::AngularMomentumResidualTpl< _Scalar >::createData ( ) const

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 39 of file angular-momentum.hpp.

Member Data Documentation

L_ref_

template<typename _Scalar>

Vector3s aligator::AngularMomentumResidualTpl< _Scalar >::L_ref_

protected

Definition at line 44 of file angular-momentum.hpp.

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

• include/aligator/modelling/centroidal/angular-momentum.hpp