aligator::GravityCompensationResidualTpl< _Scalar > Struct Template Reference

#include <aligator/modelling/multibody/gravity-compensation-residual.hpp>

Inheritance diagram for aligator::GravityCompensationResidualTpl< _Scalar >:

Collaboration diagram for aligator::GravityCompensationResidualTpl< _Scalar >:

Classes
struct	Data

Public Types
using	Scalar = _Scalar
using	Base = StageFunctionTpl<Scalar>
using	BaseData = StageFunctionDataTpl<Scalar>
using	Model = pinocchio::ModelTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	GravityCompensationResidualTpl (int ndx, const MatrixXs &actuation_matrix, const Model &model)
	Constructor with an actuation matrix.
	GravityCompensationResidualTpl (int ndx, const Model &model)
	Full actuation constructor.
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Compute Jacobians of this function.
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	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default

Public Attributes
Model	pin_model_
MatrixXs	actuation_matrix_
bool	use_actuation_matrix
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::GravityCompensationResidualTpl< _Scalar >

Definition at line 11 of file gravity-compensation-residual.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 12 of file gravity-compensation-residual.hpp.

Base

template<typename _Scalar>

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

Definition at line 14 of file gravity-compensation-residual.hpp.

BaseData

template<typename _Scalar>

using aligator::GravityCompensationResidualTpl< _Scalar >::BaseData = StageFunctionDataTpl<Scalar>

Definition at line 15 of file gravity-compensation-residual.hpp.

Model

template<typename _Scalar>

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

Definition at line 16 of file gravity-compensation-residual.hpp.

Constructor & Destructor Documentation

GravityCompensationResidualTpl() [1/2]

template<typename _Scalar>

aligator::GravityCompensationResidualTpl< _Scalar >::GravityCompensationResidualTpl	(	int	ndx,
		const MatrixXs &	actuation_matrix,
		const Model &	model )

Constructor with an actuation matrix.

GravityCompensationResidualTpl() [2/2]

template<typename _Scalar>

aligator::GravityCompensationResidualTpl< _Scalar >::GravityCompensationResidualTpl	(	int	ndx,
		const Model &	model )

Full actuation constructor.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::GravityCompensationResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar>

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

virtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

computeJacobians()

template<typename _Scalar>

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

virtual

Compute Jacobians of this function.

This computes the Jacobians \( (\frac{\partial f}{\partial x}, \frac{\partial f}{\partial u}, \frac{\partial f}{\partial x'}) \)

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

createData()

template<typename _Scalar>

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

virtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Member Data Documentation

pin_model_

template<typename _Scalar>

Model aligator::GravityCompensationResidualTpl< _Scalar >::pin_model_

Definition at line 18 of file gravity-compensation-residual.hpp.

actuation_matrix_

template<typename _Scalar>

MatrixXs aligator::GravityCompensationResidualTpl< _Scalar >::actuation_matrix_

Definition at line 19 of file gravity-compensation-residual.hpp.

use_actuation_matrix

template<typename _Scalar>

bool aligator::GravityCompensationResidualTpl< _Scalar >::use_actuation_matrix

Definition at line 20 of file gravity-compensation-residual.hpp.

---

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

• include/aligator/modelling/multibody/gravity-compensation-residual.hpp