crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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ImpulseModel3DTpl< _Scalar > Class Template Reference
Inheritance diagram for ImpulseModel3DTpl< _Scalar >:
Collaboration diagram for ImpulseModel3DTpl< _Scalar >:

Public Types

typedef ImpulseModelAbstractTpl< Scalar > Base
 
typedef ImpulseData3DTpl< Scalar > Data
 
typedef ImpulseDataAbstractTpl< Scalar > ImpulseDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::Vector2s Vector2s
 
typedef MathBase::Vector3s Vector3s
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ImpulseModelAbstractTpl< _Scalar >
typedef ImpulseDataAbstractTpl< Scalar > ImpulseDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ImpulseModel3DTpl (boost::shared_ptr< StateMultibody > state, const std::size_t frame)
 
virtual void calc (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calcDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual boost::shared_ptr< ImpulseDataAbstractcreateData (pinocchio::DataTpl< Scalar > *const data)
 
std::size_t get_frame () const
 
virtual void print (std::ostream &os) const
 Print relevant information of the 3d impulse model. More...
 
virtual void updateForce (const boost::shared_ptr< ImpulseDataAbstract > &data, const VectorXs &force)
 
- Public Member Functions inherited from ImpulseModelAbstractTpl< _Scalar >
 ImpulseModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc)
 
virtual void calc (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
 
virtual void calcDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
 
virtual boost::shared_ptr< ImpulseDataAbstractcreateData (pinocchio::DataTpl< Scalar > *const data)
 
std::size_t get_nc () const
 
const boost::shared_ptr< StateMultibody > & get_state () const
 
virtual void print (std::ostream &os) const
 Print relevant information of the impulse model. More...
 
void setZeroForce (const boost::shared_ptr< ImpulseDataAbstract > &data) const
 
void setZeroForceDiff (const boost::shared_ptr< ImpulseDataAbstract > &data) const
 
virtual void updateForce (const boost::shared_ptr< ImpulseDataAbstract > &data, const VectorXs &force)=0
 
void updateForceDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const MatrixXs &df_dx) const
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ImpulseModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

boost::shared_ptr< StateMultibodystate_
 
- Protected Attributes inherited from ImpulseModelAbstractTpl< _Scalar >
std::size_t nc_
 
boost::shared_ptr< StateMultibodystate_
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ImpulseModel3DTpl< _Scalar >

Definition at line 21 of file impulse-3d.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 26 of file impulse-3d.hpp.

◆ Base

typedef ImpulseModelAbstractTpl<Scalar> Base

Definition at line 27 of file impulse-3d.hpp.

◆ Data

typedef ImpulseData3DTpl<Scalar> Data

Definition at line 28 of file impulse-3d.hpp.

◆ StateMultibody

Definition at line 29 of file impulse-3d.hpp.

◆ ImpulseDataAbstract

Definition at line 30 of file impulse-3d.hpp.

◆ Vector2s

typedef MathBase::Vector2s Vector2s

Definition at line 31 of file impulse-3d.hpp.

◆ Vector3s

typedef MathBase::Vector3s Vector3s

Definition at line 32 of file impulse-3d.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 33 of file impulse-3d.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 34 of file impulse-3d.hpp.

Member Function Documentation

◆ calc()

virtual void calc ( const boost::shared_ptr< ImpulseDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x 
)
virtual

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< ImpulseDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x 
)
virtual

◆ updateForce()

virtual void updateForce ( const boost::shared_ptr< ImpulseDataAbstract > &  data,
const VectorXs &  force 
)
virtual

◆ createData()

virtual boost::shared_ptr< ImpulseDataAbstract > createData ( pinocchio::DataTpl< Scalar > *const  data)
virtual

◆ print()

virtual void print ( std::ostream &  os) const
virtual

Print relevant information of the 3d impulse model.

Parameters
[out]osOutput stream object

Reimplemented from ImpulseModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 25 of file impulse-3d.hpp.

◆ state_

boost::shared_ptr<StateMultibody> state_
protected

Definition at line 63 of file impulse-base.hpp.


The documentation for this class was generated from the following files: