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TaskDataCentroidalMomentumTpl< _Scalar > Struct Template Reference

Cached values and derivatives for the centroidal-momentum task. More...

#include <centroidal-momentum.hpp>

Inheritance diagram for TaskDataCentroidalMomentumTpl< _Scalar >:
TaskDataAbstractTpl< _Scalar >

Public Types

typedef TaskDataAbstractTpl< Scalar > Base
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::Matrix6xs Matrix6xs
typedef MathBase::Vector6s Vector6s
Public Types inherited from TaskDataAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef TaskModelAbstractTpl< Scalar > TaskModelAbstract
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 TaskDataCentroidalMomentumTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
 Bind the task data to the shared Pinocchio data and, optionally, joint data.
Public Member Functions inherited from TaskDataAbstractTpl< _Scalar >
 TaskDataAbstractTpl (TaskModelAbstract *const model, DataCollectorAbstract *const data)
 Allocate and initialize the common task data.

Public Attributes

Matrix6xs dh_dq
 Partial derivative of h with respect to q.
Matrix6xs dhdot_da
 Partial derivative of hdot with respect to ddq.
Matrix6xs dhdot_dq
 Partial derivative of hdot with respect to q.
Matrix6xs dhdot_dv
 Partial derivative of hdot with respect to v.
Vector6s hdot
 Current centroidal-momentum rate.
std::shared_ptr< JointDataAbstractTpl< Scalar > > joint
 Shared generalized-acceleration data.
pinocchio::DataTpl< Scalar > * pinocchio
 Shared Pinocchio data.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared action-model data collector.
Public Attributes inherited from TaskDataAbstractTpl< _Scalar >
VectorXs a
 Task acceleration $a(x,u)=\ddot{y}(x,u)$.
MatrixXs Au
 Jacobian $\partial a/\partial u$.
MatrixXs Ax
 Jacobian $\partial a/\partial x$.
bool compute_acceleration
 Request computation of task acceleration.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared action-model data collector.
VectorXs v
 Task rate $v(x,u)=\dot{y}(x,u)$.
MatrixXs Vu
 Jacobian $\partial v/\partial u$.
MatrixXs Vx
 Jacobian $\partial v/\partial x$.
VectorXs y
 Task quantity $y(x,u)$.
MatrixXs Yu
 Jacobian $\partial y/\partial u$.
MatrixXs Yx
 Jacobian $\partial y/\partial x$.

Detailed Description

template<typename _Scalar>
struct crocoddyl::TaskDataCentroidalMomentumTpl< _Scalar >

Cached values and derivatives for the centroidal-momentum task.

Definition at line 143 of file centroidal-momentum.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 147 of file centroidal-momentum.hpp.

◆ Base

template<typename _Scalar>
typedef TaskDataAbstractTpl<Scalar> Base

Definition at line 148 of file centroidal-momentum.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 149 of file centroidal-momentum.hpp.

◆ Vector6s

template<typename _Scalar>
typedef MathBase::Vector6s Vector6s

Definition at line 150 of file centroidal-momentum.hpp.

◆ Matrix6xs

template<typename _Scalar>
typedef MathBase::Matrix6xs Matrix6xs

Definition at line 151 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

◆ TaskDataCentroidalMomentumTpl()

template<typename _Scalar>
template<template< typename Scalar > class Model>
TaskDataCentroidalMomentumTpl(Model< Scalar > *constmodel,
DataCollectorAbstract *constdata )
inline

Bind the task data to the shared Pinocchio data and, optionally, joint data.

Parameters
[in]modelCentroidal-momentum task model
[in]dataShared data derived from DataCollectorMultibodyTpl and, optionally, DataCollectorJointTpl

Definition at line 162 of file centroidal-momentum.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 146 of file centroidal-momentum.hpp.

◆ pinocchio

template<typename _Scalar>
pinocchio::DataTpl<Scalar>* pinocchio

Shared Pinocchio data.

Definition at line 192 of file centroidal-momentum.hpp.

◆ joint

template<typename _Scalar>
std::shared_ptr<JointDataAbstractTpl<Scalar> > joint

Shared generalized-acceleration data.

Definition at line 194 of file centroidal-momentum.hpp.

◆ hdot

template<typename _Scalar>
Vector6s hdot

Current centroidal-momentum rate.

Definition at line 195 of file centroidal-momentum.hpp.

◆ dh_dq

template<typename _Scalar>
Matrix6xs dh_dq

Partial derivative of h with respect to q.

Definition at line 196 of file centroidal-momentum.hpp.

◆ dhdot_dq

template<typename _Scalar>
Matrix6xs dhdot_dq

Partial derivative of hdot with respect to q.

Definition at line 197 of file centroidal-momentum.hpp.

◆ dhdot_dv

template<typename _Scalar>
Matrix6xs dhdot_dv

Partial derivative of hdot with respect to v.

Definition at line 198 of file centroidal-momentum.hpp.

◆ dhdot_da

template<typename _Scalar>
Matrix6xs dhdot_da

Partial derivative of hdot with respect to ddq.

Definition at line 199 of file centroidal-momentum.hpp.

◆ shared

template<typename _Scalar>
DataCollectorAbstract* shared

Shared action-model data collector.

Definition at line 170 of file task-base.hpp.

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