Cached values and derivatives for the frame-placement task. More...

#include <frame-placement.hpp>

Inheritance diagram for TaskDataFramePlacementTpl< _Scalar >:

Public Types
typedef TaskDataAbstractTpl< Scalar >	Base
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix6s	Matrix6s
typedef MathBase::Matrix6xs	Matrix6xs
typedef pinocchio::MotionTpl< Scalar >	Motion
typedef pinocchio::SE3Tpl< Scalar >	SE3
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>
	TaskDataFramePlacementTpl (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
Motion	af
	Frame acceleration in the selected reference frame.
Matrix6xs	fAdq
	Partial derivative of frame acceleration w.r.t. q.
Matrix6xs	fAdv
	Partial derivative of frame acceleration w.r.t. v.
Matrix6xs	fJf
	Frame Jacobian in the selected intermediate frame.
Matrix6xs	fVdq
	Partial derivative of frame velocity with respect to q.
Matrix6xs	fVdv
	Partial derivative of frame velocity with respect to v.
std::shared_ptr< JointDataAbstractTpl< Scalar > >	joint
	Shared generalized-acceleration data, when available.
pinocchio::DataTpl< Scalar > *	pinocchio
	Shared Pinocchio data.
Matrix6s	rJf
	Jacobian of the SE(3) logarithm.
SE3	rMf
	Pose-error composition for the selected convention.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
DataCollectorAbstract *	shared
	Shared action-model data collector.
Motion	vf
	Frame velocity in the selected reference frame.
Motion	y_local
	Local pose error used by LOCAL_WORLD_ALIGNED.
Matrix6xs	Yx_local
	Jacobian of the local pose error.
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 .
MatrixXs	Yu
	Jacobian $\partial y/\partial u$ .
MatrixXs	Yx
	Jacobian $\partial y/\partial x$ .

Detailed Description

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

Cached values and derivatives for the frame-placement task.

Definition at line 161 of file frame-placement.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 165 of file frame-placement.hpp.

◆ Base

template<typename _Scalar>

typedef TaskDataAbstractTpl<Scalar> Base

Definition at line 166 of file frame-placement.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 167 of file frame-placement.hpp.

◆ Matrix6s

template<typename _Scalar>

typedef MathBase::Matrix6s Matrix6s

Definition at line 168 of file frame-placement.hpp.

◆ Matrix6xs

template<typename _Scalar>

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 169 of file frame-placement.hpp.

◆ Motion

template<typename _Scalar>

typedef pinocchio::MotionTpl<Scalar> Motion

Definition at line 170 of file frame-placement.hpp.

◆ SE3

template<typename _Scalar>

typedef pinocchio::SE3Tpl<Scalar> SE3

Definition at line 171 of file frame-placement.hpp.

Constructor & Destructor Documentation

◆ TaskDataFramePlacementTpl()

template<typename _Scalar>

template<template< typename Scalar > class Model>

TaskDataFramePlacementTpl	(	Model< Scalar > *const	model,
		DataCollectorAbstract *const	data )

inline

Definition at line 174 of file frame-placement.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 164 of file frame-placement.hpp.

◆ pinocchio

template<typename _Scalar>

pinocchio::DataTpl<Scalar>* pinocchio

Shared Pinocchio data.

Definition at line 213 of file frame-placement.hpp.

◆ joint

template<typename _Scalar>

std::shared_ptr<JointDataAbstractTpl<Scalar> > joint

Shared generalized-acceleration data, when available.

Definition at line 215 of file frame-placement.hpp.

◆ rMf

template<typename _Scalar>

SE3 rMf

Pose-error composition for the selected convention.

Definition at line 216 of file frame-placement.hpp.

◆ rJf

template<typename _Scalar>

Matrix6s rJf

Jacobian of the SE(3) logarithm.

Definition at line 217 of file frame-placement.hpp.

◆ y_local

template<typename _Scalar>

Motion y_local

Local pose error used by LOCAL_WORLD_ALIGNED.

Definition at line 218 of file frame-placement.hpp.

◆ vf

template<typename _Scalar>

Motion vf

Frame velocity in the selected reference frame.

Definition at line 219 of file frame-placement.hpp.

◆ af

template<typename _Scalar>

Motion af

Frame acceleration in the selected reference frame.

Definition at line 220 of file frame-placement.hpp.

◆ Yx_local

template<typename _Scalar>

Matrix6xs Yx_local

Jacobian of the local pose error.

Definition at line 221 of file frame-placement.hpp.

◆ fJf

template<typename _Scalar>

Matrix6xs fJf

Frame Jacobian in the selected intermediate frame.

Definition at line 222 of file frame-placement.hpp.

◆ fVdq

template<typename _Scalar>

Matrix6xs fVdq

Partial derivative of frame velocity with respect to q.

Definition at line 223 of file frame-placement.hpp.

◆ fVdv

template<typename _Scalar>

Matrix6xs fVdv

Partial derivative of frame velocity with respect to v.

Definition at line 224 of file frame-placement.hpp.

◆ fAdq

template<typename _Scalar>

Matrix6xs fAdq

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

Definition at line 225 of file frame-placement.hpp.

◆ fAdv

template<typename _Scalar>

Matrix6xs fAdv

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

Definition at line 226 of file frame-placement.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:

/build/source/include/crocoddyl/multibody/fwd.hpp
/build/source/include/crocoddyl/multibody/tasks/frame-placement.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ DataCollectorAbstract

◆ Matrix6s

◆ Matrix6xs

◆ Motion

◆ SE3

Constructor & Destructor Documentation

◆ TaskDataFramePlacementTpl()

Member Data Documentation

◆ Scalar

◆ pinocchio

◆ joint

◆ rMf

◆ rJf

◆ y_local

◆ vf

◆ af

◆ Yx_local

◆ fJf

◆ fVdq

◆ fVdv

◆ fAdq

◆ fAdv

◆ shared