aligator::CentroidalMomentumDataTpl< Scalar > Struct Template Reference

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

Inheritance diagram for aligator::CentroidalMomentumDataTpl< Scalar >:

Collaboration diagram for aligator::CentroidalMomentumDataTpl< Scalar >:

Public Types
using	Base = StageFunctionDataTpl<Scalar>
using	PinData = pinocchio::DataTpl<Scalar>
using	Matrix6Xs = typename math_types<Scalar>::Matrix6Xs
Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using	Scalar

Public Member Functions
	CentroidalMomentumDataTpl (const CentroidalMomentumResidualTpl< 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.
Matrix6Xs	dh_dq_
Matrix6Xs	dhdot_dq_
Matrix6Xs	dhdot_dv_
Matrix6Xs	dhdot_da_
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_

Detailed Description

template<typename Scalar>
struct aligator::CentroidalMomentumDataTpl< Scalar >

Definition at line 50 of file centroidal-momentum.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

using aligator::CentroidalMomentumDataTpl< Scalar >::Base = StageFunctionDataTpl<Scalar>

Definition at line 52 of file centroidal-momentum.hpp.

PinData

template<typename Scalar>

using aligator::CentroidalMomentumDataTpl< Scalar >::PinData = pinocchio::DataTpl<Scalar>

Definition at line 53 of file centroidal-momentum.hpp.

Matrix6Xs

template<typename Scalar>

using aligator::CentroidalMomentumDataTpl< Scalar >::Matrix6Xs = typename math_types<Scalar>::Matrix6Xs

Definition at line 54 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

CentroidalMomentumDataTpl()

template<typename Scalar>

aligator::CentroidalMomentumDataTpl< Scalar >::CentroidalMomentumDataTpl

(

const CentroidalMomentumResidualTpl< Scalar > *

model

)

Member Data Documentation

pin_data_

template<typename Scalar>

PinData aligator::CentroidalMomentumDataTpl< Scalar >::pin_data_

Pinocchio data object.

Definition at line 57 of file centroidal-momentum.hpp.

dh_dq_

template<typename Scalar>

Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dh_dq_

Definition at line 58 of file centroidal-momentum.hpp.

dhdot_dq_

template<typename Scalar>

Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_dq_

Definition at line 59 of file centroidal-momentum.hpp.

dhdot_dv_

template<typename Scalar>

Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_dv_

Definition at line 60 of file centroidal-momentum.hpp.

dhdot_da_

template<typename Scalar>

Matrix6Xs aligator::CentroidalMomentumDataTpl< Scalar >::dhdot_da_

Definition at line 61 of file centroidal-momentum.hpp.

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

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