Inheritance diagram for aligator::CenterOfMassVelocityDataTpl< Scalar >:

Collaboration diagram for aligator::CenterOfMassVelocityDataTpl< Scalar >:

Public Types
using	Base = StageFunctionDataTpl<Scalar>
using	PinData = pinocchio::DataTpl<Scalar>
Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using	Scalar

Public Member Functions
	CenterOfMassVelocityDataTpl (const CenterOfMassVelocityResidualTpl< Scalar > &model)
Public Member Functions inherited from aligator::StageFunctionDataTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
ConstMatrixRef	Jx () const
ConstMatrixRef	Ju () const
MatrixRef	Jx ()
MatrixRef	Ju ()
	StageFunctionDataTpl (const int ndx, const int nu, const int nr)
	Default constructor.
	StageFunctionDataTpl (const StageFunctionTpl< Scalar > &model)
virtual	~StageFunctionDataTpl ()=default

Public Attributes
PinData	pin_data_
	Pinocchio data object.
math_types< Scalar >::Matrix3Xs	fJf_
	Jacobian of the error.
Public Attributes inherited from aligator::StageFunctionDataTpl< Scalar >
const int	ndx1
const int	nu
const int	nr
const int	nvar
	Total number of variables.
VectorXs	value_
	Function value.
VectorRef	valref_
MatrixXs	jac_buffer_
	Full Jacobian.
MatrixXs	vhp_buffer_
	Vector-Hessian product buffer.
MatrixRef	Jx_
	Jacobian with respect to \(x\).
MatrixRef	Ju_
	Jacobian with respect to \(u\).
MatrixRef	Hxx_
MatrixRef	Hxu_
MatrixRef	Huu_