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

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::VectorXs VectorXs
 
- Public Types inherited from ContactDataAbstractTpl< _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>
 ContactDataNumDiffTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ContactDataAbstractTpl< _Scalar >
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
 
boost::shared_ptr< Basedata_0
 The data at the approximation point. More...
 
std::vector< boost::shared_ptr< Base > > data_x
 The temporary data associated with the state variation. More...
 
VectorXs dx
 State disturbance. More...
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$". More...
 
- Public Attributes inherited from ContactDataAbstractTpl< _Scalar >
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::ContactDataNumDiffTpl< _Scalar >

Definition at line 125 of file contact.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 129 of file contact.hpp.

◆ Base

typedef ContactDataAbstractTpl<Scalar> Base

Definition at line 130 of file contact.hpp.

◆ VectorXs

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 131 of file contact.hpp.

Constructor & Destructor Documentation

◆ ContactDataNumDiffTpl()

ContactDataNumDiffTpl ( Model< Scalar > *const  model,
pinocchio::DataTpl< Scalar > *const  data 
)
inlineexplicit

Definition at line 134 of file contact.hpp.

◆ ~ContactDataNumDiffTpl()

virtual ~ContactDataNumDiffTpl ( )
inlinevirtual

Definition at line 146 of file contact.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 128 of file contact.hpp.

◆ dx

VectorXs dx

State disturbance.

Definition at line 153 of file contact.hpp.

◆ xp

VectorXs xp

The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".

Definition at line 154 of file contact.hpp.

◆ data_0

boost::shared_ptr<Base> data_0

The data at the approximation point.

Definition at line 155 of file contact.hpp.

◆ data_x

std::vector<boost::shared_ptr<Base> > data_x

The temporary data associated with the state variation.

Definition at line 156 of file contact.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.

◆ 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 103 of file force-base.hpp.

◆ pinocchio

pinocchio::DataTpl<Scalar>* pinocchio

Pinocchio data.

Definition at line 107 of file force-base.hpp.


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