aligator::CentroidalWrenchConeDataTpl< Scalar > Struct Template Reference

This residual implements the wrench cone for a centroidal model with control \(u = (f_1,...,f_c) \) with \(f_k\) 6D spatial force. More...

#include <aligator/modelling/centroidal/centroidal-wrench-cone.hpp>

Inheritance diagram for aligator::CentroidalWrenchConeDataTpl< Scalar >:

Collaboration diagram for aligator::CentroidalWrenchConeDataTpl< Scalar >:

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

Public Member Functions
	CentroidalWrenchConeDataTpl (const CentroidalWrenchConeResidualTpl< 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
Eigen::Matrix< Scalar, 17, 6 >	Jtemp_
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::CentroidalWrenchConeDataTpl< Scalar >

This residual implements the wrench cone for a centroidal model with control \(u = (f_1,...,f_c) \) with \(f_k\) 6D spatial force.

Considering an contact k exerting 6D force f, the residual returns \( A f \) with \(A \in \mathbb{R}^{17 \times 6}\) the wrench cone matrix gathering Coulomb friction inequalities, CoP inequalities and limits on vertical torque. The usual wrench cone approximation with 4 facets is leveraged here. The frame in contact is supposed to be rectangular.

Definition at line 59 of file centroidal-wrench-cone.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

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

Definition at line 61 of file centroidal-wrench-cone.hpp.

Constructor & Destructor Documentation

CentroidalWrenchConeDataTpl()

template<typename Scalar>

aligator::CentroidalWrenchConeDataTpl< Scalar >::CentroidalWrenchConeDataTpl

(

const CentroidalWrenchConeResidualTpl< Scalar > *

model

)

Member Data Documentation

Jtemp_

template<typename Scalar>

Eigen::Matrix<Scalar, 17, 6> aligator::CentroidalWrenchConeDataTpl< Scalar >::Jtemp_

Definition at line 63 of file centroidal-wrench-cone.hpp.

---

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

• include/aligator/modelling/centroidal/centroidal-wrench-cone.hpp