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

Public Types

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>
 ContactDataAbstractTpl (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

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
 
- 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::ContactDataAbstractTpl< _Scalar >

Definition at line 81 of file contact-base.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

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

◆ Base

typedef ForceDataAbstractTpl<Scalar> Base

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

◆ VectorXs

typedef MathBase::VectorXs VectorXs

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

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

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

Constructor & Destructor Documentation

◆ ContactDataAbstractTpl()

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

Definition at line 91 of file contact-base.hpp.

◆ ~ContactDataAbstractTpl()

virtual ~ContactDataAbstractTpl ( )
inlinevirtual

Definition at line 99 of file contact-base.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

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

◆ fXj

pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj

Definition at line 108 of file contact-base.hpp.

◆ a0

VectorXs a0

Definition at line 109 of file contact-base.hpp.

◆ da0_dx

MatrixXs da0_dx

Definition at line 110 of file contact-base.hpp.

◆ df_du

MatrixXs df_du

Jacobian of the contact forces.

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

◆ df_dx

MatrixXs df_dx

Jacobian of the contact forces.

Definition at line 50 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.

◆ frame

pinocchio::FrameIndex frame

Frame index of the contact frame.

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

◆ Jc

MatrixXs Jc

Contact Jacobian.

Definition at line 47 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.

◆ pinocchio

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

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


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