Public Types | |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
template<template< typename Scalar > class Model> | |
ForceDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) | |
Public Attributes | |
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 21 of file force-base.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 25 of file force-base.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 26 of file force-base.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 27 of file force-base.hpp.
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inline |
Definition at line 30 of file force-base.hpp.
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inlinevirtual |
Definition at line 42 of file force-base.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 24 of file force-base.hpp.
pinocchio::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 44 of file force-base.hpp.
pinocchio::FrameIndex frame |
Frame index of the contact frame.
Definition at line 45 of file force-base.hpp.
pinocchio::SE3Tpl<Scalar> jMf |
Local frame placement of the contact frame.
Definition at line 46 of file force-base.hpp.
MatrixXs Jc |
Contact Jacobian.
Definition at line 47 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 48 of file force-base.hpp.
MatrixXs df_dx |
Jacobian of the contact forces.
Definition at line 50 of file force-base.hpp.
MatrixXs df_du |
Jacobian of the contact forces.
Definition at line 51 of file force-base.hpp.