#include <aligator/modelling/dynamics/multibody-constraint-fwd.hpp>

Inheritance diagram for aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >:

Collaboration diagram for aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >:

Public Types
using	Base = ContinuousDynamicsDataTpl<Scalar>
using	VectorXs = typename math_types<Scalar>::VectorXs
using	MatrixXs = typename math_types<Scalar>::MatrixXs
using	PinDataType = pinocchio::DataTpl<Scalar>
using	RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar>
using	RigidConstraintDataVector
Public Types inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
using	Scalar

Public Member Functions
	MultibodyConstraintFwdDataTpl (const MultibodyConstraintFwdDynamicsTpl< Scalar > &cont_dyn)
Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
ConstMatrixRef	Jx () const
ConstMatrixRef	Ju () const
MatrixRef	Jx ()
MatrixRef	Ju ()
	ContinuousDynamicsDataTpl (const int ndx, const int nu)
virtual	~ContinuousDynamicsDataTpl ()=default

Public Attributes
VectorXs	tau_
MatrixXs	dtau_dx_
MatrixXs	dtau_du_
RigidConstraintDataVector	constraint_datas_
pinocchio::ProximalSettingsTpl< Scalar >	settings
PinDataType	pin_data_
	shared_ptr to the underlying pinocchio::DataTpl object.
Public Attributes inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
VectorXs	value_
	Residual value \(e = f(x,u,\dot{x})\).
MatrixXs	Jx_
	Derivative \(\partial f/{\partial x}\).
MatrixXs	Ju_
	Derivative \(\partial f/{\partial u}\).
MatrixXs	Jxdot_
	Derivative \(\partial f/\partial\dot{x}\).
VectorXs	xdot_
	Time derivative \(\dot{x} = f(x, u)\), output of ODE model.

Detailed Description

template<typename Scalar>
struct aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >

Definition at line 60 of file multibody-constraint-fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename Scalar>

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::Base = ContinuousDynamicsDataTpl<Scalar>

Definition at line 61 of file multibody-constraint-fwd.hpp.

◆ VectorXs

template<typename Scalar>

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::VectorXs = typename math_types<Scalar>::VectorXs

Definition at line 62 of file multibody-constraint-fwd.hpp.

◆ MatrixXs

template<typename Scalar>

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::MatrixXs = typename math_types<Scalar>::MatrixXs

Definition at line 63 of file multibody-constraint-fwd.hpp.

◆ PinDataType

template<typename Scalar>

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::PinDataType = pinocchio::DataTpl<Scalar>

Definition at line 64 of file multibody-constraint-fwd.hpp.

◆ RigidConstraintData

template<typename Scalar>

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::RigidConstraintData = pinocchio::RigidConstraintDataTpl<Scalar>

Definition at line 67 of file multibody-constraint-fwd.hpp.

◆ RigidConstraintDataVector

template<typename Scalar>

using aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::RigidConstraintDataVector

Initial value:

PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(RigidConstraintData)

aligator::dynamics::MultibodyConstraintFwdDataTpl::RigidConstraintData

pinocchio::RigidConstraintDataTpl< Scalar > RigidConstraintData

Definition multibody-constraint-fwd.hpp:67

Definition at line 69 of file multibody-constraint-fwd.hpp.

Constructor & Destructor Documentation

◆ MultibodyConstraintFwdDataTpl()

template<typename Scalar>

aligator::dynamics::MultibodyConstraintFwdDataTpl< Scalar >::MultibodyConstraintFwdDataTpl ( const MultibodyConstraintFwdDynamicsTpl< Scalar > & cont_dyn )