aligator::CentroidalWrenchConeResidualTpl< _Scalar > Struct Template Reference

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

Inheritance diagram for aligator::CentroidalWrenchConeResidualTpl< _Scalar >:

Collaboration diagram for aligator::CentroidalWrenchConeResidualTpl< _Scalar >:

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

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	CentroidalWrenchConeResidualTpl (const int ndx, const int nu, const int k, const double mu, const double half_length, const double half_width)
void	evaluate (const ConstVectorRef &, const ConstVectorRef &u, BaseData &data) const
void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &, BaseData &data) const
shared_ptr< BaseData >	createData () const
	Instantiate a Data object.
Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Evaluate the function.
virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Compute Jacobians of this function.
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default

Protected Attributes
int	k_
double	mu_
double	hL_
double	hW_

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::CentroidalWrenchConeResidualTpl< _Scalar >

Definition at line 23 of file centroidal-wrench-cone.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 26 of file centroidal-wrench-cone.hpp.

Base

template<typename _Scalar>

using aligator::CentroidalWrenchConeResidualTpl< _Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 28 of file centroidal-wrench-cone.hpp.

BaseData

template<typename _Scalar>

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

Definition at line 29 of file centroidal-wrench-cone.hpp.

Data

template<typename _Scalar>

using aligator::CentroidalWrenchConeResidualTpl< _Scalar >::Data = CentroidalWrenchConeDataTpl<Scalar>

Definition at line 30 of file centroidal-wrench-cone.hpp.

Constructor & Destructor Documentation

CentroidalWrenchConeResidualTpl()

template<typename _Scalar>

aligator::CentroidalWrenchConeResidualTpl< _Scalar >::CentroidalWrenchConeResidualTpl ( const int ndx, const int nu, const int k, const double mu, const double half_length, const double half_width )

inline

Definition at line 32 of file centroidal-wrench-cone.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::CentroidalWrenchConeResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar>

void aligator::CentroidalWrenchConeResidualTpl< _Scalar >::evaluate	(	const ConstVectorRef &	,
		const ConstVectorRef &	u,
		BaseData &	data ) const

computeJacobians()

template<typename _Scalar>

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

createData()

template<typename _Scalar>

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

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 47 of file centroidal-wrench-cone.hpp.

Member Data Documentation

k_

template<typename _Scalar>

int aligator::CentroidalWrenchConeResidualTpl< _Scalar >::k_

protected

Definition at line 52 of file centroidal-wrench-cone.hpp.

mu_

template<typename _Scalar>

double aligator::CentroidalWrenchConeResidualTpl< _Scalar >::mu_

protected

Definition at line 53 of file centroidal-wrench-cone.hpp.

hL_

template<typename _Scalar>

double aligator::CentroidalWrenchConeResidualTpl< _Scalar >::hL_

protected

Definition at line 54 of file centroidal-wrench-cone.hpp.

hW_

template<typename _Scalar>

double aligator::CentroidalWrenchConeResidualTpl< _Scalar >::hW_

protected

Definition at line 55 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