9 #ifndef CROCODDYL_MULTIBODY_FORCE_BASE_HPP_ 10 #define CROCODDYL_MULTIBODY_FORCE_BASE_HPP_ 12 #include <pinocchio/multibody/data.hpp> 13 #include <pinocchio/spatial/force.hpp> 15 #include "crocoddyl/multibody/fwd.hpp" 16 #include "crocoddyl/core/mathbase.hpp" 20 template <
typename _Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 typedef _Scalar Scalar;
26 typedef typename MathBase::VectorXs VectorXs;
27 typedef typename MathBase::MatrixXs MatrixXs;
29 template <
template <
typename Scalar>
class Model>
33 jMf(pinocchio::SE3Tpl<Scalar>::Identity()),
34 Jc(model->get_nc(), model->get_state()->get_nv()),
35 f(pinocchio::ForceTpl<Scalar>::Zero()),
36 df_dx(model->get_nc(), model->get_state()->get_ndx()),
37 df_du(model->get_nc(), model->get_nu()) {
46 typename pinocchio::SE3Tpl<Scalar>
jMf;
48 pinocchio::ForceTpl<Scalar>
f;
56 #endif // CROCODDYL_MULTIBODY_FORCE_BASE_HPP_ pinocchio::FrameIndex frame
Frame index of the contact frame.
MatrixXs df_du
Jacobian of the contact forces.
MatrixXs df_dx
Jacobian of the contact forces.
pinocchio::SE3Tpl< Scalar > jMf
Local frame placement of the contact frame.
pinocchio::ForceTpl< Scalar > f
MatrixXs Jc
Contact Jacobian.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.