aligator::CentroidalMomentumResidualTpl< _Scalar > Struct Template Reference

This residual returns the derivative of centroidal momentum for a kinodynamics model. More...

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

Inheritance diagram for aligator::CentroidalMomentumResidualTpl< _Scalar >:

Collaboration diagram for aligator::CentroidalMomentumResidualTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = UnaryFunctionTpl<Scalar>
using	BaseData = typename Base::Data
using	Model = pinocchio::ModelTpl<Scalar>
using	SE3 = pinocchio::SE3Tpl<Scalar>
using	Data = CentroidalMomentumDataTpl<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)
	CentroidalMomentumResidualTpl (const int ndx, const int nu, const Model &model, const Vector6s &h_ref)
void	evaluate (const ConstVectorRef &x, BaseData &data) const
void	computeJacobians (const ConstVectorRef &x, BaseData &data) const
const Vector6s &	getReference () const
void	setReference (const Eigen::Ref< const Vector6s > &h_new)
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

Public Attributes
Model	pin_model_
Vector6s	h_ref_
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::CentroidalMomentumResidualTpl< _Scalar >

This residual returns the derivative of centroidal momentum for a kinodynamics model.

Definition at line 18 of file centroidal-momentum.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 20 of file centroidal-momentum.hpp.

Base

template<typename _Scalar>

using aligator::CentroidalMomentumResidualTpl< _Scalar >::Base = UnaryFunctionTpl<Scalar>

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

BaseData

template<typename _Scalar>

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

Definition at line 23 of file centroidal-momentum.hpp.

Model

template<typename _Scalar>

using aligator::CentroidalMomentumResidualTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar>

Definition at line 24 of file centroidal-momentum.hpp.

SE3

template<typename _Scalar>

using aligator::CentroidalMomentumResidualTpl< _Scalar >::SE3 = pinocchio::SE3Tpl<Scalar>

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

Data

template<typename _Scalar>

using aligator::CentroidalMomentumResidualTpl< _Scalar >::Data = CentroidalMomentumDataTpl<Scalar>

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

Constructor & Destructor Documentation

CentroidalMomentumResidualTpl()

template<typename _Scalar>

aligator::CentroidalMomentumResidualTpl< _Scalar >::CentroidalMomentumResidualTpl ( const int ndx, const int nu, const Model & model, const Vector6s & h_ref )

inline

Definition at line 31 of file centroidal-momentum.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::CentroidalMomentumResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar>

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

computeJacobians()

template<typename _Scalar>

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

getReference()

template<typename _Scalar>

const Vector6s & aligator::CentroidalMomentumResidualTpl< _Scalar >::getReference ( ) const

inline

Definition at line 41 of file centroidal-momentum.hpp.

setReference()

template<typename _Scalar>

void aligator::CentroidalMomentumResidualTpl< _Scalar >::setReference ( const Eigen::Ref< const Vector6s > & h_new )

inline

Definition at line 42 of file centroidal-momentum.hpp.

createData()

template<typename _Scalar>

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

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

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

Member Data Documentation

pin_model_

template<typename _Scalar>

Model aligator::CentroidalMomentumResidualTpl< _Scalar >::pin_model_

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

h_ref_

template<typename _Scalar>

Vector6s aligator::CentroidalMomentumResidualTpl< _Scalar >::h_ref_

Definition at line 29 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