aligator::ContactForceDataTpl< Scalar > Struct Template Reference

#include <aligator/modelling/multibody/contact-force.hpp>

Inheritance diagram for aligator::ContactForceDataTpl< Scalar >:

Collaboration diagram for aligator::ContactForceDataTpl< Scalar >:

Public Types
using	Base = StageFunctionDataTpl<Scalar>
using	PinData = pinocchio::DataTpl<Scalar>
using	VectorXs = typename math_types<Scalar>::VectorXs
using	MatrixXs = typename math_types<Scalar>::MatrixXs
using	RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using	Scalar

Public Member Functions
	ContactForceDataTpl (const ContactForceResidualTpl< 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.
VectorXs	tau_
	constraint_datas_
pinocchio::ProximalSettingsTpl< Scalar >	settings
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::ContactForceDataTpl< Scalar >

Definition at line 88 of file contact-force.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

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

Definition at line 90 of file contact-force.hpp.

PinData

template<typename Scalar>

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

Definition at line 91 of file contact-force.hpp.

VectorXs

template<typename Scalar>

using aligator::ContactForceDataTpl< Scalar >::VectorXs = typename math_types<Scalar>::VectorXs

Definition at line 92 of file contact-force.hpp.

MatrixXs

template<typename Scalar>

using aligator::ContactForceDataTpl< Scalar >::MatrixXs = typename math_types<Scalar>::MatrixXs

Definition at line 93 of file contact-force.hpp.

RigidConstraintData

template<typename Scalar>

using aligator::ContactForceDataTpl< Scalar >::RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar>

Definition at line 94 of file contact-force.hpp.

Constructor & Destructor Documentation

ContactForceDataTpl()

template<typename Scalar>

aligator::ContactForceDataTpl< Scalar >::ContactForceDataTpl

(

const ContactForceResidualTpl< Scalar > *

model

)

Member Data Documentation

pin_data_

template<typename Scalar>

PinData aligator::ContactForceDataTpl< Scalar >::pin_data_

Pinocchio data object.

Definition at line 97 of file contact-force.hpp.

tau_

template<typename Scalar>

VectorXs aligator::ContactForceDataTpl< Scalar >::tau_

Definition at line 98 of file contact-force.hpp.

constraint_datas_

template<typename Scalar>

aligator::ContactForceDataTpl< Scalar >::constraint_datas_

Definition at line 101 of file contact-force.hpp.

settings

template<typename Scalar>

pinocchio::ProximalSettingsTpl<Scalar> aligator::ContactForceDataTpl< Scalar >::settings

Definition at line 102 of file contact-force.hpp.

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

• include/aligator/modelling/multibody/contact-force.hpp