crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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ImpulseData6DTpl< _Scalar > Struct Template Reference
Inheritance diagram for ImpulseData6DTpl< _Scalar >:
Collaboration diagram for ImpulseData6DTpl< _Scalar >:

Public Types

typedef ImpulseDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6xs Matrix6xs
 
- Public Types inherited from ImpulseDataAbstractTpl< _Scalar >
typedef ForceDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ForceDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ImpulseData6DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ImpulseDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ImpulseDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ForceDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ForceDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 

Public Attributes

MatrixXs df_dx
 Jacobian of the contact forces. More...
 
MatrixXs dv0_dq
 
pinocchio::ForceTpl< Scalar > f
 
Matrix6xs fJf
 
pinocchio::FrameIndex frame
 Frame index of the contact frame. More...
 
pinocchio::SE3Tpl< Scalar >::ActionMatrixType fXj
 
MatrixXs Jc
 Contact Jacobian. More...
 
pinocchio::SE3Tpl< Scalar > jMf
 Local frame placement of the contact frame. More...
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
Matrix6xs v_partial_dq
 
Matrix6xs v_partial_dv
 
- Public Attributes inherited from ImpulseDataAbstractTpl< _Scalar >
MatrixXs df_dx
 Jacobian of the contact forces. More...
 
MatrixXs dv0_dq
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::FrameIndex frame
 Frame index of the contact frame. More...
 
MatrixXs Jc
 Contact Jacobian. More...
 
pinocchio::SE3Tpl< Scalar > jMf
 Local frame placement of the contact frame. More...
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ForceDataAbstractTpl< _Scalar >
MatrixXs df_du
 Jacobian of the contact forces. More...
 
MatrixXs df_dx
 Jacobian of the contact forces. More...
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::FrameIndex frame
 Frame index of the contact frame. More...
 
MatrixXs Jc
 Contact Jacobian. More...
 
pinocchio::SE3Tpl< Scalar > jMf
 Local frame placement of the contact frame. More...
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ImpulseData6DTpl< _Scalar >

Definition at line 61 of file impulse-6d.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 64 of file impulse-6d.hpp.

◆ Base

typedef ImpulseDataAbstractTpl<Scalar> Base

Definition at line 65 of file impulse-6d.hpp.

◆ Matrix6xs

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 66 of file impulse-6d.hpp.

Constructor & Destructor Documentation

◆ ImpulseData6DTpl()

ImpulseData6DTpl ( Model< Scalar > *const  model,
pinocchio::DataTpl< Scalar > *const  data 
)
inline

Definition at line 69 of file impulse-6d.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 63 of file impulse-6d.hpp.

◆ fXj

pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj

Definition at line 90 of file impulse-6d.hpp.

◆ fJf

Matrix6xs fJf

Definition at line 91 of file impulse-6d.hpp.

◆ v_partial_dq

Matrix6xs v_partial_dq

Definition at line 92 of file impulse-6d.hpp.

◆ v_partial_dv

Matrix6xs v_partial_dv

Definition at line 93 of file impulse-6d.hpp.

◆ df_dx

MatrixXs df_dx

Jacobian of the contact forces.

Definition at line 84 of file force-base.hpp.

◆ dv0_dq

MatrixXs dv0_dq

Definition at line 90 of file impulse-base.hpp.

◆ f

pinocchio::ForceTpl<Scalar> f

External spatial force at the parent joint level. Note that we could compute the force at the contact frame by using jMf (i.e. data.jMf.actInv(data.f)

Definition at line 85 of file force-base.hpp.

◆ frame

pinocchio::FrameIndex frame

Frame index of the contact frame.

Definition at line 86 of file force-base.hpp.

◆ Jc

MatrixXs Jc

Contact Jacobian.

Definition at line 87 of file force-base.hpp.

◆ jMf

pinocchio::SE3Tpl<Scalar> jMf

Local frame placement of the contact frame.

Definition at line 88 of file force-base.hpp.

◆ pinocchio

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 89 of file force-base.hpp.


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