aligator::MultibodyWrenchConeDataTpl< Scalar > Struct Template Reference

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

Inheritance diagram for aligator::MultibodyWrenchConeDataTpl< Scalar >:

Collaboration diagram for aligator::MultibodyWrenchConeDataTpl< 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	Matrix6Xs = typename math_types<Scalar>::Matrix6Xs
using	RigidConstraintDataVector
Public Types inherited from aligator::StageFunctionDataTpl< Scalar >
using	Scalar

Public Member Functions
	MultibodyWrenchConeDataTpl (const MultibodyWrenchConeResidualTpl< 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_
Matrix6Xs	temp_
RigidConstraintDataVector	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::MultibodyWrenchConeDataTpl< Scalar >

Definition at line 97 of file multibody-wrench-cone.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

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

Definition at line 99 of file multibody-wrench-cone.hpp.

PinData

template<typename Scalar>

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

Definition at line 100 of file multibody-wrench-cone.hpp.

VectorXs

template<typename Scalar>

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

Definition at line 101 of file multibody-wrench-cone.hpp.

MatrixXs

template<typename Scalar>

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

Definition at line 102 of file multibody-wrench-cone.hpp.

Matrix6Xs

template<typename Scalar>

using aligator::MultibodyWrenchConeDataTpl< Scalar >::Matrix6Xs = typename math_types<Scalar>::Matrix6Xs

Definition at line 103 of file multibody-wrench-cone.hpp.

RigidConstraintDataVector

template<typename Scalar>

using aligator::MultibodyWrenchConeDataTpl< Scalar >::RigidConstraintDataVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(pinocchio::RigidConstraintData)

Definition at line 104 of file multibody-wrench-cone.hpp.

Constructor & Destructor Documentation

MultibodyWrenchConeDataTpl()

template<typename Scalar>

aligator::MultibodyWrenchConeDataTpl< Scalar >::MultibodyWrenchConeDataTpl

(

const MultibodyWrenchConeResidualTpl< Scalar > *

model

)

Member Data Documentation

pin_data_

template<typename Scalar>

PinData aligator::MultibodyWrenchConeDataTpl< Scalar >::pin_data_

Pinocchio data object.

Definition at line 108 of file multibody-wrench-cone.hpp.

tau_

template<typename Scalar>

VectorXs aligator::MultibodyWrenchConeDataTpl< Scalar >::tau_

Definition at line 109 of file multibody-wrench-cone.hpp.

temp_

template<typename Scalar>

Matrix6Xs aligator::MultibodyWrenchConeDataTpl< Scalar >::temp_

Definition at line 110 of file multibody-wrench-cone.hpp.

constraint_datas_

template<typename Scalar>

RigidConstraintDataVector aligator::MultibodyWrenchConeDataTpl< Scalar >::constraint_datas_

Definition at line 112 of file multibody-wrench-cone.hpp.

settings

template<typename Scalar>

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

Definition at line 113 of file multibody-wrench-cone.hpp.

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

• include/aligator/modelling/multibody/multibody-wrench-cone.hpp