Crocoddyl
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TaskDataCoMPositionTpl< _Scalar > Struct Template Reference

Cached values and derivatives for the center-of-mass position task. More...

#include <com-position.hpp>

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

Public Types

typedef TaskDataAbstractTpl< Scalar > Base
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::Matrix3xs Matrix3xs
typedef MathBase::Vector3s Vector3s
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>
 TaskDataCoMPositionTpl (Model< Scalar > *const model, DataCollectorAbstract *const data)
Public Member Functions inherited from TaskDataAbstractTpl< _Scalar >
 TaskDataAbstractTpl (TaskModelAbstract *const model, DataCollectorAbstract *const data)
 Allocate and initialize the common task data.

Public Attributes

Vector3s acom
 Center-of-mass acceleration.
Vector3s com
 Center-of-mass position.
Matrix3xs dacom_dq
 Partial derivative of CoM acceleration w.r.t. q.
Matrix3xs dacom_dv
 Partial derivative of CoM acceleration w.r.t. v.
Matrix3xs dvc_dq
 Partial derivative of CoM velocity w.r.t. q.
std::shared_ptr< JointDataAbstractTpl< Scalar > > joint
 Shared generalized-acceleration data, when available.
pinocchio::DataTpl< Scalar > * pinocchio
 Shared Pinocchio data.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared action-model data collector.
Vector3s vcom
 Center-of-mass velocity.
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::TaskDataCoMPositionTpl< _Scalar >

Cached values and derivatives for the center-of-mass position task.

Definition at line 126 of file com-position.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 130 of file com-position.hpp.

◆ Base

template<typename _Scalar>
typedef TaskDataAbstractTpl<Scalar> Base

Definition at line 131 of file com-position.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 132 of file com-position.hpp.

◆ Matrix3xs

template<typename _Scalar>
typedef MathBase::Matrix3xs Matrix3xs

Definition at line 133 of file com-position.hpp.

◆ Vector3s

template<typename _Scalar>
typedef MathBase::Vector3s Vector3s

Definition at line 134 of file com-position.hpp.

Constructor & Destructor Documentation

◆ TaskDataCoMPositionTpl()

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

Definition at line 137 of file com-position.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 129 of file com-position.hpp.

◆ pinocchio

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

Shared Pinocchio data.

Definition at line 168 of file com-position.hpp.

◆ joint

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

Shared generalized-acceleration data, when available.

Definition at line 170 of file com-position.hpp.

◆ com

template<typename _Scalar>
Vector3s com

Center-of-mass position.

Definition at line 171 of file com-position.hpp.

◆ vcom

template<typename _Scalar>
Vector3s vcom

Center-of-mass velocity.

Definition at line 172 of file com-position.hpp.

◆ acom

template<typename _Scalar>
Vector3s acom

Center-of-mass acceleration.

Definition at line 173 of file com-position.hpp.

◆ dvc_dq

template<typename _Scalar>
Matrix3xs dvc_dq

Partial derivative of CoM velocity w.r.t. q.

Definition at line 174 of file com-position.hpp.

◆ dacom_dq

template<typename _Scalar>
Matrix3xs dacom_dq

Partial derivative of CoM acceleration w.r.t. q.

Definition at line 175 of file com-position.hpp.

◆ dacom_dv

template<typename _Scalar>
Matrix3xs dacom_dv

Partial derivative of CoM acceleration w.r.t. v.

Definition at line 176 of file com-position.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: