Public Types | |
typedef ImpulseDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
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> | |
ImpulseData6DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) | |
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template<template< typename Scalar > class Model> | |
ImpulseDataAbstractTpl (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 | |
MatrixXs | df_dx |
Jacobian of the contact forces. More... | |
MatrixXs | dv0_dq |
pinocchio::ForceTpl< Scalar > | f |
Matrix6xs | fJf |
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 |
Matrix6xs | v_partial_dq |
Matrix6xs | v_partial_dv |
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MatrixXs | df_dx |
Jacobian of the contact forces. More... | |
MatrixXs | dv0_dq |
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 |
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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 61 of file impulse-6d.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 64 of file impulse-6d.hpp.
typedef ImpulseDataAbstractTpl<Scalar> Base |
Definition at line 65 of file impulse-6d.hpp.
typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 66 of file impulse-6d.hpp.
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inline |
Definition at line 69 of file impulse-6d.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 63 of file impulse-6d.hpp.
pinocchio::SE3Tpl<Scalar>::ActionMatrixType fXj |
Definition at line 90 of file impulse-6d.hpp.
Matrix6xs fJf |
Definition at line 91 of file impulse-6d.hpp.
Matrix6xs v_partial_dq |
Definition at line 92 of file impulse-6d.hpp.
Matrix6xs v_partial_dv |
Definition at line 93 of file impulse-6d.hpp.
MatrixXs df_dx |
Jacobian of the contact forces.
Definition at line 84 of file force-base.hpp.
MatrixXs dv0_dq |
Definition at line 90 of file impulse-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 85 of file force-base.hpp.
pinocchio::FrameIndex frame |
Frame index of the contact frame.
Definition at line 86 of file force-base.hpp.
MatrixXs Jc |
Contact Jacobian.
Definition at line 87 of file force-base.hpp.
pinocchio::SE3Tpl<Scalar> jMf |
Local frame placement of the contact frame.
Definition at line 88 of file force-base.hpp.
pinocchio::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 89 of file force-base.hpp.