Public Types | |
typedef ContactDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::Matrix6s | Matrix6s |
typedef MathBase::Matrix6xs | Matrix6xs |
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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> | |
ContactData6DTpl (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 |
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... | |
pinocchio::SE3Tpl< Scalar > | rMf |
Matrix6s | rMf_Jlog6 |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
pinocchio::MotionTpl< Scalar > | v |
Matrix6xs | v_partial_dq |
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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 137 of file contact-6d.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 141 of file contact-6d.hpp.
typedef ContactDataAbstractTpl<Scalar> Base |
Definition at line 142 of file contact-6d.hpp.
typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 143 of file contact-6d.hpp.
typedef MathBase::Matrix6s Matrix6s |
Definition at line 144 of file contact-6d.hpp.
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inline |
Definition at line 147 of file contact-6d.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 140 of file contact-6d.hpp.
pinocchio::SE3Tpl<Scalar> rMf |
Definition at line 175 of file contact-6d.hpp.
pinocchio::MotionTpl<Scalar> v |
Definition at line 176 of file contact-6d.hpp.
pinocchio::MotionTpl<Scalar> a |
Definition at line 177 of file contact-6d.hpp.
Matrix6xs v_partial_dq |
Definition at line 178 of file contact-6d.hpp.
Matrix6xs a_partial_dq |
Definition at line 179 of file contact-6d.hpp.
Matrix6xs a_partial_dv |
Definition at line 180 of file contact-6d.hpp.
Matrix6xs a_partial_da |
Definition at line 181 of file contact-6d.hpp.
Matrix6s rMf_Jlog6 |
Definition at line 182 of file contact-6d.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.