Public Types | |
typedef ContactDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBaseTpl< Scalar >::VectorXs | VectorXs |
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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> | |
ContactDataNumDiffTpl (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 | |
VectorXs | a0 |
MatrixXs | da0_dx |
boost::shared_ptr< Base > | data_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... | |
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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 125 of file contact.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 129 of file contact.hpp.
typedef ContactDataAbstractTpl<Scalar> Base |
Definition at line 130 of file contact.hpp.
typedef MathBaseTpl<Scalar>::VectorXs VectorXs |
Definition at line 131 of file contact.hpp.
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inlineexplicit |
Definition at line 134 of file contact.hpp.
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inlinevirtual |
Definition at line 146 of file contact.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 128 of file contact.hpp.
VectorXs dx |
State disturbance.
Definition at line 153 of file contact.hpp.
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.
boost::shared_ptr<Base> data_0 |
The data at the approximation point.
Definition at line 155 of file contact.hpp.
std::vector<boost::shared_ptr<Base> > data_x |
The temporary data associated with the state variation.
Definition at line 156 of file contact.hpp.
VectorXs a0 |
Definition at line 109 of file contact-base.hpp.
MatrixXs da0_dx |
Definition at line 110 of file contact-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::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 107 of file force-base.hpp.