Public Types | |
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> | |
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 |
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 68 of file impulse-base.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 72 of file impulse-base.hpp.
typedef ForceDataAbstractTpl<Scalar> Base |
Definition at line 73 of file impulse-base.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 74 of file impulse-base.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 75 of file impulse-base.hpp.
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inline |
Definition at line 78 of file impulse-base.hpp.
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inlinevirtual |
Definition at line 82 of file impulse-base.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 71 of file impulse-base.hpp.
MatrixXs dv0_dq |
Definition at line 90 of file impulse-base.hpp.
MatrixXs df_dx |
Jacobian of the contact forces.
Definition at line 50 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.
pinocchio::FrameIndex frame |
Frame index of the contact frame.
Definition at line 45 of file force-base.hpp.
MatrixXs Jc |
Contact Jacobian.
Definition at line 47 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.
pinocchio::DataTpl<Scalar>* pinocchio |
Pinocchio data.
Definition at line 44 of file force-base.hpp.