aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar > Struct Template Reference

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

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

Collaboration diagram for aligator::dynamics::MultibodyFreeFwdDataTpl< 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>
Public Types inherited from aligator::dynamics::ContinuousDynamicsDataTpl< Scalar >
using	Scalar

Public Member Functions
	MultibodyFreeFwdDataTpl (const MultibodyFreeFwdDynamicsTpl< 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_
PinDataType	pin_data_
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::MultibodyFreeFwdDataTpl< Scalar >

Definition at line 72 of file multibody-free-fwd.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

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

Definition at line 73 of file multibody-free-fwd.hpp.

VectorXs

template<typename Scalar>

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

Definition at line 74 of file multibody-free-fwd.hpp.

MatrixXs

template<typename Scalar>

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

Definition at line 75 of file multibody-free-fwd.hpp.

PinDataType

template<typename Scalar>

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

Definition at line 76 of file multibody-free-fwd.hpp.

Constructor & Destructor Documentation

MultibodyFreeFwdDataTpl()

template<typename Scalar>

aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::MultibodyFreeFwdDataTpl

(

const MultibodyFreeFwdDynamicsTpl< Scalar > *

cont_dyn

)

Member Data Documentation

tau_

template<typename Scalar>

VectorXs aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::tau_

Definition at line 77 of file multibody-free-fwd.hpp.

dtau_dx_

template<typename Scalar>

MatrixXs aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::dtau_dx_

Definition at line 78 of file multibody-free-fwd.hpp.

dtau_du_

template<typename Scalar>

MatrixXs aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::dtau_du_

Definition at line 79 of file multibody-free-fwd.hpp.

pin_data_

template<typename Scalar>

PinDataType aligator::dynamics::MultibodyFreeFwdDataTpl< Scalar >::pin_data_

Definition at line 80 of file multibody-free-fwd.hpp.

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

• include/aligator/modelling/dynamics/multibody-free-fwd.hpp