Public Types | |
typedef ContactDataAbstractTpl< Scalar > | ContactDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc) | |
ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu) | |
virtual void | calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
virtual void | calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
virtual boost::shared_ptr< ContactDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
pinocchio::FrameIndex | get_id () const |
Return the reference frame id. | |
std::size_t | get_nc () const |
std::size_t | get_nu () const |
const boost::shared_ptr< StateMultibody > & | get_state () const |
virtual void | print (std::ostream &os) const |
Print relevant information of the contact model. More... | |
void | set_id (const pinocchio::FrameIndex id) |
Modify the reference frame id. | |
void | setZeroForce (const boost::shared_ptr< ContactDataAbstract > &data) const |
void | setZeroForceDiff (const boost::shared_ptr< ContactDataAbstract > &data) const |
virtual void | updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)=0 |
void | updateForceDiff (const boost::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
pinocchio::FrameIndex | id_ |
Reference frame id of the contact. More... | |
std::size_t | nc_ |
std::size_t | nu_ |
boost::shared_ptr< StateMultibody > | state_ |
Friends | |
template<class Scalar > | |
std::ostream & | operator<< (std::ostream &os, const ContactModelAbstractTpl< Scalar > &model) |
Print information on the contact model. | |
Definition at line 20 of file contact-base.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 25 of file contact-base.hpp.
typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract |
Definition at line 26 of file contact-base.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 27 of file contact-base.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 28 of file contact-base.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 29 of file contact-base.hpp.
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pure virtual |
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pure virtual |
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pure virtual |
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virtual |
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virtual |
Print relevant information of the contact model.
[out] | os | Output stream object |
Reimplemented in ContactModel1DTpl< _Scalar >, ContactModel2DTpl< _Scalar >, ContactModel3DTpl< _Scalar >, and ContactModel6DTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 24 of file contact-base.hpp.
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protected |
Definition at line 74 of file contact-base.hpp.
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protected |
Definition at line 75 of file contact-base.hpp.
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protected |
Definition at line 76 of file contact-base.hpp.
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protected |
Reference frame id of the contact.
Definition at line 77 of file contact-base.hpp.