Public Types | |
typedef ContactDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::Matrix3s | Matrix3s |
typedef MathBase::Matrix6xs | Matrix6xs |
typedef MathBase::Vector3s | Vector3s |
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typedef ForceDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
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typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
template<template< typename Scalar > class Model> | |
ContactData3DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) | |
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template<template< typename Scalar > class Model> | |
ContactDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) | |
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template<template< typename Scalar > class Model> | |
ForceDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) | |
Public Attributes | |
pinocchio::MotionTpl< Scalar > | a |
VectorXs | a0 |
Matrix6xs | a_partial_da |
Matrix6xs | a_partial_dq |
Matrix6xs | a_partial_dv |
MatrixXs | da0_dx |
MatrixXs | df_du |
Jacobian of the contact forces. More... | |
MatrixXs | df_dx |
Jacobian of the contact forces. More... | |
pinocchio::ForceTpl< Scalar > | f |
Matrix6xs | fJf |
pinocchio::FrameIndex | frame |
Frame index of the contact frame. More... | |
pinocchio::SE3Tpl< Scalar >::ActionMatrixType | fXj |
Matrix6xs | fXjda_dq |
Matrix6xs | fXjda_dv |
Matrix6xs | fXjdv_dq |
MatrixXs | Jc |
Contact Jacobian. More... | |
pinocchio::SE3Tpl< Scalar > | jMf |
Local frame placement of the contact frame. More... | |
Matrix3s | oRf |
pinocchio::DataTpl< Scalar > * | pinocchio |
Pinocchio data. More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
pinocchio::MotionTpl< Scalar > | v |
Matrix6xs | v_partial_dq |
Vector3s | vv |
Matrix3s | vv_skew |
Vector3s | vw |
Matrix3s | vw_skew |
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VectorXs | a0 |
MatrixXs | da0_dx |
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... | |
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 |
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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 |
Definition at line 140 of file contact-3d.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 144 of file contact-3d.hpp.
typedef ContactDataAbstractTpl<Scalar> Base |
Definition at line 145 of file contact-3d.hpp.
typedef MathBase::Matrix3s Matrix3s |
Definition at line 146 of file contact-3d.hpp.
typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 147 of file contact-3d.hpp.
typedef MathBase::Vector3s Vector3s |
Definition at line 148 of file contact-3d.hpp.
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inline |
Definition at line 151 of file contact-3d.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 143 of file contact-3d.hpp.
pinocchio::MotionTpl<Scalar> v |
Definition at line 190 of file contact-3d.hpp.
pinocchio::MotionTpl<Scalar> a |
Definition at line 191 of file contact-3d.hpp.
Matrix6xs fJf |
Definition at line 192 of file contact-3d.hpp.
Matrix6xs v_partial_dq |
Definition at line 193 of file contact-3d.hpp.
Matrix6xs a_partial_dq |
Definition at line 194 of file contact-3d.hpp.
Matrix6xs a_partial_dv |
Definition at line 195 of file contact-3d.hpp.
Matrix6xs a_partial_da |
Definition at line 196 of file contact-3d.hpp.
Matrix6xs fXjdv_dq |
Definition at line 197 of file contact-3d.hpp.
Matrix6xs fXjda_dq |
Definition at line 198 of file contact-3d.hpp.
Matrix6xs fXjda_dv |
Definition at line 199 of file contact-3d.hpp.
Vector3s vv |
Definition at line 200 of file contact-3d.hpp.
Vector3s vw |
Definition at line 201 of file contact-3d.hpp.
Matrix3s vv_skew |
Definition at line 202 of file contact-3d.hpp.
Matrix3s vw_skew |
Definition at line 203 of file contact-3d.hpp.
Matrix3s oRf |
Definition at line 204 of file contact-3d.hpp.
VectorXs a0 |
Definition at line 109 of file contact-base.hpp.
MatrixXs da0_dx |
Definition at line 110 of file contact-base.hpp.
MatrixXs df_du |
Jacobian of the contact forces.
Definition at line 101 of file force-base.hpp.
MatrixXs df_dx |
Jacobian of the contact forces.
Definition at line 102 of file force-base.hpp.
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 103 of file force-base.hpp.
pinocchio::FrameIndex frame |
Frame index of the contact frame.
Definition at line 104 of file force-base.hpp.
pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj |
Definition at line 108 of file contact-base.hpp.
MatrixXs Jc |
Contact Jacobian.
Definition at line 105 of file force-base.hpp.
pinocchio::SE3Tpl<Scalar> jMf |
Local frame placement of the contact frame.
Definition at line 106 of file force-base.hpp.
pinocchio::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 107 of file force-base.hpp.