crocoddyl  1.3.0
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ImpulseModelMultipleTpl< _Scalar > Class Template Reference

Public Types

typedef pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > >::iterator ForceIterator
 
typedef ImpulseDataAbstractTpl< Scalar > ImpulseDataAbstract
 
typedef std::map< std::string, boost::shared_ptr< ImpulseDataAbstract > > ImpulseDataContainer
 
typedef ImpulseDataMultipleTpl< Scalar > ImpulseDataMultiple
 
typedef ImpulseItemTpl< Scalar > ImpulseItem
 
typedef ImpulseModelAbstractTpl< Scalar > ImpulseModelAbstract
 
typedef std::map< std::string, boost::shared_ptr< ImpulseItem > > ImpulseModelContainer
 
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 Member Functions

 ImpulseModelMultipleTpl (boost::shared_ptr< StateMultibody > state)
 
void addImpulse (const std::string &name, boost::shared_ptr< ImpulseModelAbstract > impulse, bool active=true)
 
void calc (const boost::shared_ptr< ImpulseDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
 
void calcDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
 
void changeImpulseStatus (const std::string &name, bool active)
 
boost::shared_ptr< ImpulseDataMultiplecreateData (pinocchio::DataTpl< Scalar > *const data)
 
const std::vector< std::string > & get_active () const
 
const ImpulseModelContainer & get_impulses () const
 
const std::vector< std::string > & get_inactive () const
 
const std::size_t & get_ni () const
 
const std::size_t & get_ni_total () const
 
const boost::shared_ptr< StateMultibody > & get_state () const
 
bool getImpulseStatus (const std::string &name) const
 
void removeImpulse (const std::string &name)
 
void updateForce (const boost::shared_ptr< ImpulseDataMultiple > &data, const VectorXs &force)
 
void updateForceDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const MatrixXs &df_dx) const
 
void updateVelocity (const boost::shared_ptr< ImpulseDataMultiple > &data, const VectorXs &vnext) const
 
void updateVelocityDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const MatrixXs &dvnext_dx) const
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

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

Definition at line 216 of file fwd.hpp.


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