Crocoddyl
Loading...
Searching...
No Matches
TaskDataFrameTranslationTpl< _Scalar > Struct Template Reference

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

#include <frame-translation.hpp>

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

Public Types

typedef TaskDataAbstractTpl< Scalar > Base
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
typedef MathBaseTpl< Scalar > MathBase
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>
 TaskDataFrameTranslationTpl (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 task's reference-frame convention.
Matrix6xs fAdq
 Partial derivative of frame acceleration w.r.t. q.
Matrix6xs fAdv
 Partial derivative of frame acceleration w.r.t. v.
Matrix6xs fJf
 Local Jacobian of the 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.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
DataCollectorAbstract * shared
 Shared action-model data collector.
Motion vf
 Frame velocity in the task's reference-frame convention.
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::TaskDataFrameTranslationTpl< _Scalar >

Cached values and derivatives for the frame-translation task.

Definition at line 156 of file frame-translation.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 160 of file frame-translation.hpp.

◆ Base

template<typename _Scalar>
typedef TaskDataAbstractTpl<Scalar> Base

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

◆ DataCollectorAbstract

template<typename _Scalar>
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 162 of file frame-translation.hpp.

◆ Matrix6xs

template<typename _Scalar>
typedef MathBase::Matrix6xs Matrix6xs

Definition at line 163 of file frame-translation.hpp.

◆ Motion

template<typename _Scalar>
typedef pinocchio::MotionTpl<Scalar> Motion

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

Constructor & Destructor Documentation

◆ TaskDataFrameTranslationTpl()

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

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

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 159 of file frame-translation.hpp.

◆ pinocchio

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

Shared Pinocchio data.

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

◆ joint

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

Shared generalized-acceleration data, when available.

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

◆ vf

template<typename _Scalar>
Motion vf

Frame velocity in the task's reference-frame convention.

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

◆ af

template<typename _Scalar>
Motion af

Frame acceleration in the task's reference-frame convention.

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

◆ fJf

template<typename _Scalar>
Matrix6xs fJf

Local Jacobian of the frame.

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

◆ fVdq

template<typename _Scalar>
Matrix6xs fVdq

Partial derivative of frame velocity with respect to q.

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

◆ fVdv

template<typename _Scalar>
Matrix6xs fVdv

Partial derivative of frame velocity with respect to v.

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

◆ fAdq

template<typename _Scalar>
Matrix6xs fAdq

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

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

◆ fAdv

template<typename _Scalar>
Matrix6xs fAdv

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

Definition at line 210 of file frame-translation.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: