Inheritance diagram for aligator::DataTpl< typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl >:

Collaboration diagram for aligator::DataTpl< typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl >:

Public Types
typedef Eigen::Matrix< Scalar, 6, 10, Options >	BodyRegressorType
typedef VectorXs	ConfigVectorType
typedef Eigen::Matrix< Scalar, 3, Eigen::Dynamic, Options >	Matrix3x
typedef Eigen::Matrix< Scalar, 6, Eigen::Dynamic, Options >	Matrix6x
typedef VectorXs	TangentVectorType
typedef Tensor< Scalar, 3, Options >	Tensor3x

Public Member Functions
	DataTpl ()
	DataTpl (const Model &model)
	PINOCCHIO_ALIGNED_STD_VECTOR (Force) f
	PINOCCHIO_ALIGNED_STD_VECTOR (Force) h
	PINOCCHIO_ALIGNED_STD_VECTOR (Force) of
	PINOCCHIO_ALIGNED_STD_VECTOR (Force) of_augmented
	PINOCCHIO_ALIGNED_STD_VECTOR (Force) oh
	PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oinertias
	PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) oYcrb
	PINOCCHIO_ALIGNED_STD_VECTOR (Inertia) Ycrb
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) B
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) doYcrb
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) dYcrb
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Ivx
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oK
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oL
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) oYaba
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) vxI
	PINOCCHIO_ALIGNED_STD_VECTOR (Matrix6) Yaba
	Matrix6x) Fcrb
	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a
	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) a_gf
	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa
	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_augmented
	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_drift
	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) oa_gf
	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) ov
	PINOCCHIO_ALIGNED_STD_VECTOR (Motion) v
	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) iMf
	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) liMi
	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMf
	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMi
	PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) acom
	PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) com
	PINOCCHIO_ALIGNED_STD_VECTOR (Vector3) vcom

Public Attributes
Ag
bodyRegressor
MatrixXs	C
ContactCholeskyDecomposition	contact_chol
VectorXs	D
d2tau_dadq
d2tau_dqdq
d2tau_dqdv
d2tau_dvdv
dAdq
dAdv
dAg
ddJ
ddq
RowMatrixXs	ddq_dq
RowMatrixXs	ddq_dtau
RowMatrixXs	ddq_dv
dFda
dFdq
dFdv
dHdq
Force	dhg
VectorXs	diff_lambda_c
VectorXs	Dinv
dJ
MatrixXs	dlambda_dq
dq_after
RowMatrixXs	dtau_dq
RowMatrixXs	dtau_dv
MatrixXs	dvc_dq
dVdq
std::vector< int >	end_idx_v_fromRow
VectorXs	g
Force	hg
std::vector< int >	idx_vExtended_to_idx_v_fromRow
Inertia	Ig
VectorXs	impulse_c
IS
Matrix6	Itmp
J
Jcom
MatrixXs	JMinvJt
PINOCCHIO_COMPILER_DIAGNOSTIC_POP JointDataVector	joints
MatrixXs	jointTorqueRegressor
kinematic_hessians
Scalar	kinetic_energy
RowVectorXs	kineticEnergyRegressor
VectorXs	lambda_c
VectorXs	lambda_c_prox
std::vector< int >	lastChild
Eigen::LLT< MatrixXs >	llt_JMinvJt
MatrixXs	M
Matrix6	M6tmp
std::vector< Scalar >	mass
Scalar	mechanical_energy
std::vector< int >	mimic_parents_fromRow
std::vector< JointIndex >	mimic_subtree_joint
RowMatrixXs	Minv
VectorXs	nle
std::vector< int >	non_mimic_parents_fromRow
std::vector< int >	nvSubtree
std::vector< int >	nvSubtree_fromRow
MatrixXs	osim
	oYaba_contact
std::vector< int >	parents_fromRow
Scalar	potential_energy
RowVectorXs	potentialEnergyRegressor
VectorXs	primal_dual_contact_solution
VectorXs	primal_rhs_contact
psid
psidd
SDinv
MatrixXs	sDUiJt
std::vector< int >	start_idx_v_fromRow
staticRegressor
std::vector< std::vector< int > >	supports_fromRow
tau
VectorXs	tmp
VectorXs	torque_residual
MatrixXs	U
u
UDinv

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

Public Types

Public Member Functions