aligator::GravityCompensationResidualTpl< _Scalar >::Data Struct Reference

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

Inheritance diagram for aligator::GravityCompensationResidualTpl< _Scalar >::Data:

Collaboration diagram for aligator::GravityCompensationResidualTpl< _Scalar >::Data:

Public Member Functions
	Data (const GravityCompensationResidualTpl &resdl)
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
pinocchio::DataTpl< Scalar >	pin_data_
VectorXs	tmp_torque_
MatrixXs	gravity_partial_dq_
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_

Additional Inherited Members
Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using	Scalar

Detailed Description

template<typename _Scalar>
struct aligator::GravityCompensationResidualTpl< _Scalar >::Data

Definition at line 33 of file gravity-compensation-residual.hpp.

Constructor & Destructor Documentation

Data()

template<typename _Scalar>

aligator::GravityCompensationResidualTpl< _Scalar >::Data::Data

(

const GravityCompensationResidualTpl &

resdl

)

Member Data Documentation

pin_data_

template<typename _Scalar>

pinocchio::DataTpl<Scalar> aligator::GravityCompensationResidualTpl< _Scalar >::Data::pin_data_

Definition at line 34 of file gravity-compensation-residual.hpp.

tmp_torque_

template<typename _Scalar>

VectorXs aligator::GravityCompensationResidualTpl< _Scalar >::Data::tmp_torque_

Definition at line 35 of file gravity-compensation-residual.hpp.

gravity_partial_dq_

template<typename _Scalar>

MatrixXs aligator::GravityCompensationResidualTpl< _Scalar >::Data::gravity_partial_dq_

Definition at line 36 of file gravity-compensation-residual.hpp.

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

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