Public Types | |
typedef ImpulseDataAbstractTpl< Scalar > | ImpulseDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
ImpulseModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc) | |
virtual void | calc (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
virtual void | calcDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
virtual boost::shared_ptr< ImpulseDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
std::size_t | get_nc () const |
const boost::shared_ptr< StateMultibody > & | get_state () const |
virtual void | print (std::ostream &os) const |
Print relevant information of the impulse model. More... | |
void | setZeroForce (const boost::shared_ptr< ImpulseDataAbstract > &data) const |
void | setZeroForceDiff (const boost::shared_ptr< ImpulseDataAbstract > &data) const |
virtual void | updateForce (const boost::shared_ptr< ImpulseDataAbstract > &data, const VectorXs &force)=0 |
void | updateForceDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const MatrixXs &df_dx) const |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
std::size_t | nc_ |
boost::shared_ptr< StateMultibody > | state_ |
Friends | |
template<class Scalar > | |
DEPRECATED("Use get_nc().", std::size_t get_ni() const ;) std friend std::ostream & | operator<< (std::ostream &os, const ImpulseModelAbstractTpl< Scalar > &model) |
Print information on the impulse model. | |
Definition at line 20 of file impulse-base.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 25 of file impulse-base.hpp.
typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract |
Definition at line 26 of file impulse-base.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 27 of file impulse-base.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 28 of file impulse-base.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 29 of file impulse-base.hpp.
|
virtual |
Print relevant information of the impulse model.
[out] | os | Output stream object |
Reimplemented in ImpulseModel3DTpl< _Scalar >, and ImpulseModel6DTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 24 of file impulse-base.hpp.
|
protected |
Definition at line 63 of file impulse-base.hpp.
|
protected |
Definition at line 64 of file impulse-base.hpp.