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

#include <frame-rotation.hpp>

Inheritance diagram for TaskDataFrameRotationTpl< _Scalar >:

Public Types
typedef TaskDataAbstractTpl< Scalar >	Base
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3s	Matrix3s
typedef MathBase::Matrix3xs	Matrix3xs
typedef MathBase::Matrix6xs	Matrix6xs
typedef pinocchio::MotionTpl< Scalar >	Motion
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>
	TaskDataFrameRotationTpl (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
Matrix3xs	a_partial_da
	Derivative of task acceleration w.r.t. ddq.
Motion	af
	Frame acceleration in the selected reference frame.
Matrix3s	dJ_a
	Derivative of rJf contracted with frame acceleration.
Matrix3s	dJ_v
	Derivative of rJf contracted with frame velocity.
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 reference frame.
Matrix6xs	fVdq
	Partial derivative of frame velocity with respect to q.
Matrix6xs	fVdv
	Partial derivative of frame velocity with respect to v.
Matrix3s	Hlogf
	Hessian of the SO(3) logarithm.
std::shared_ptr< JointDataAbstractTpl< Scalar > >	joint
	Shared generalized-acceleration data, when available.
pinocchio::DataTpl< Scalar > *	pinocchio
	Shared Pinocchio data.
Matrix3s	rJf
	Jacobian of the SO(3) logarithm.
Matrix3s	rRf
	Rotation-error composition in 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.
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::TaskDataFrameRotationTpl< _Scalar >

Cached values and derivatives for the frame-rotation task.

Definition at line 145 of file frame-rotation.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 149 of file frame-rotation.hpp.

◆ Base

template<typename _Scalar>

typedef TaskDataAbstractTpl<Scalar> Base

Definition at line 150 of file frame-rotation.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 151 of file frame-rotation.hpp.

◆ Matrix3s

template<typename _Scalar>

typedef MathBase::Matrix3s Matrix3s

Definition at line 152 of file frame-rotation.hpp.

◆ Matrix3xs

template<typename _Scalar>

typedef MathBase::Matrix3xs Matrix3xs

Definition at line 153 of file frame-rotation.hpp.

◆ Matrix6xs

template<typename _Scalar>

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 154 of file frame-rotation.hpp.

◆ Motion

template<typename _Scalar>

typedef pinocchio::MotionTpl<Scalar> Motion

Definition at line 155 of file frame-rotation.hpp.

Constructor & Destructor Documentation

◆ TaskDataFrameRotationTpl()

template<typename _Scalar>

template<template< typename Scalar > class Model>

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

inline

Definition at line 158 of file frame-rotation.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 148 of file frame-rotation.hpp.

◆ pinocchio

template<typename _Scalar>

pinocchio::DataTpl<Scalar>* pinocchio

Shared Pinocchio data.

Definition at line 199 of file frame-rotation.hpp.

◆ joint

template<typename _Scalar>

std::shared_ptr<JointDataAbstractTpl<Scalar> > joint

Shared generalized-acceleration data, when available.

Definition at line 201 of file frame-rotation.hpp.

◆ rRf

template<typename _Scalar>

Matrix3s rRf

Rotation-error composition in the selected convention.

Definition at line 202 of file frame-rotation.hpp.

◆ rJf

template<typename _Scalar>

Matrix3s rJf

Jacobian of the SO(3) logarithm.

Definition at line 203 of file frame-rotation.hpp.

◆ vf

template<typename _Scalar>

Motion vf

Frame velocity in the selected reference frame.

Definition at line 204 of file frame-rotation.hpp.

◆ af

template<typename _Scalar>

Motion af

Frame acceleration in the selected reference frame.

Definition at line 205 of file frame-rotation.hpp.

◆ Hlogf

template<typename _Scalar>

Matrix3s Hlogf

Hessian of the SO(3) logarithm.

Definition at line 206 of file frame-rotation.hpp.

◆ dJ_v

template<typename _Scalar>

Matrix3s dJ_v

Derivative of rJf contracted with frame velocity.

Definition at line 207 of file frame-rotation.hpp.

◆ dJ_a

template<typename _Scalar>

Matrix3s dJ_a

Derivative of rJf contracted with frame acceleration.

Definition at line 208 of file frame-rotation.hpp.

◆ a_partial_da

template<typename _Scalar>

Matrix3xs a_partial_da

Derivative of task acceleration w.r.t. ddq.

Definition at line 209 of file frame-rotation.hpp.

◆ fJf

template<typename _Scalar>

Matrix6xs fJf

Frame Jacobian in the selected reference frame.

Definition at line 210 of file frame-rotation.hpp.

◆ fVdq

template<typename _Scalar>

Matrix6xs fVdq

Partial derivative of frame velocity with respect to q.

Definition at line 211 of file frame-rotation.hpp.

◆ fVdv

template<typename _Scalar>

Matrix6xs fVdv

Partial derivative of frame velocity with respect to v.

Definition at line 212 of file frame-rotation.hpp.

◆ fAdq

template<typename _Scalar>

Matrix6xs fAdq

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

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

◆ fAdv

template<typename _Scalar>

Matrix6xs fAdv

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

Definition at line 214 of file frame-rotation.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-rotation.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ DataCollectorAbstract

◆ Matrix3s

◆ Matrix3xs

◆ Matrix6xs

◆ Motion

Constructor & Destructor Documentation

◆ TaskDataFrameRotationTpl()

Member Data Documentation

◆ Scalar

◆ pinocchio

◆ joint

◆ rRf

◆ rJf

◆ vf

◆ af

◆ Hlogf

◆ dJ_v

◆ dJ_a

◆ a_partial_da

◆ fJf

◆ fVdq

◆ fVdv

◆ fAdq

◆ fAdv

◆ shared