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

Public Types

typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ForceDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 

Public Attributes

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::ForceDataAbstractTpl< _Scalar >

Definition at line 21 of file force-base.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 25 of file force-base.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 26 of file force-base.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 27 of file force-base.hpp.

Constructor & Destructor Documentation

◆ ForceDataAbstractTpl()

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

Definition at line 30 of file force-base.hpp.

◆ ~ForceDataAbstractTpl()

virtual ~ForceDataAbstractTpl ( )
inlinevirtual

Definition at line 42 of file force-base.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 24 of file force-base.hpp.

◆ pinocchio

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 44 of file force-base.hpp.

◆ frame

pinocchio::FrameIndex frame

Frame index of the contact frame.

Definition at line 45 of file force-base.hpp.

◆ jMf

pinocchio::SE3Tpl<Scalar> jMf

Local frame placement of the contact frame.

Definition at line 46 of file force-base.hpp.

◆ Jc

MatrixXs Jc

Contact Jacobian.

Definition at line 47 of file force-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 48 of file force-base.hpp.

◆ df_dx

MatrixXs df_dx

Jacobian of the contact forces.

Definition at line 50 of file force-base.hpp.

◆ df_du

MatrixXs df_du

Jacobian of the contact forces.

Definition at line 51 of file force-base.hpp.


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