crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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ContactData6DTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactData6DTpl< _Scalar >:
Collaboration diagram for ContactData6DTpl< _Scalar >:

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6s Matrix6s
 
typedef MathBase::Matrix6xs Matrix6xs
 
- 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>
 ContactData6DTpl (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

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
 
- 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::ContactData6DTpl< _Scalar >

Definition at line 137 of file contact-6d.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 141 of file contact-6d.hpp.

◆ Base

typedef ContactDataAbstractTpl<Scalar> Base

Definition at line 142 of file contact-6d.hpp.

◆ Matrix6xs

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 143 of file contact-6d.hpp.

◆ Matrix6s

typedef MathBase::Matrix6s Matrix6s

Definition at line 144 of file contact-6d.hpp.

Constructor & Destructor Documentation

◆ ContactData6DTpl()

ContactData6DTpl ( Model< Scalar > *const  model,
pinocchio::DataTpl< Scalar > *const  data 
)
inline

Definition at line 147 of file contact-6d.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 140 of file contact-6d.hpp.

◆ rMf

pinocchio::SE3Tpl<Scalar> rMf

Definition at line 175 of file contact-6d.hpp.

◆ v

pinocchio::MotionTpl<Scalar> v

Definition at line 176 of file contact-6d.hpp.

◆ a

pinocchio::MotionTpl<Scalar> a

Definition at line 177 of file contact-6d.hpp.

◆ v_partial_dq

Matrix6xs v_partial_dq

Definition at line 178 of file contact-6d.hpp.

◆ a_partial_dq

Matrix6xs a_partial_dq

Definition at line 179 of file contact-6d.hpp.

◆ a_partial_dv

Matrix6xs a_partial_dv

Definition at line 180 of file contact-6d.hpp.

◆ a_partial_da

Matrix6xs a_partial_da

Definition at line 181 of file contact-6d.hpp.

◆ rMf_Jlog6

Matrix6s rMf_Jlog6

Definition at line 182 of file contact-6d.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 101 of file force-base.hpp.

◆ df_dx

MatrixXs df_dx

Jacobian of the contact forces.

Definition at line 102 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 103 of file force-base.hpp.

◆ frame

pinocchio::FrameIndex frame

Frame index of the contact frame.

Definition at line 104 of file force-base.hpp.

◆ fXj

pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj

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

◆ Jc

MatrixXs Jc

Contact Jacobian.

Definition at line 105 of file force-base.hpp.

◆ jMf

pinocchio::SE3Tpl<Scalar> jMf

Local frame placement of the contact frame.

Definition at line 106 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 file: