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typedef ContactDataAbstractTpl< Scalar > | ContactDataAbstract |
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typedef std::map< std::string, boost::shared_ptr< ContactDataAbstract > > | ContactDataContainer |
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typedef ContactDataMultipleTpl< Scalar > | ContactDataMultiple |
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typedef ContactItemTpl< Scalar > | ContactItem |
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typedef ContactModelAbstractTpl< Scalar > | ContactModelAbstract |
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typedef std::map< std::string, boost::shared_ptr< ContactItem > > | ContactModelContainer |
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typedef pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > >::iterator | ForceIterator |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef StateMultibodyTpl< Scalar > | StateMultibody |
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typedef MathBase::Vector2s | Vector2s |
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typedef MathBase::Vector3s | Vector3s |
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typedef MathBase::VectorXs | VectorXs |
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| ContactModelMultipleTpl (boost::shared_ptr< StateMultibody > state, const std::size_t &nu) |
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| ContactModelMultipleTpl (boost::shared_ptr< StateMultibody > state) |
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void | addContact (const std::string &name, boost::shared_ptr< ContactModelAbstract > contact, bool active=true) |
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void | calc (const boost::shared_ptr< ContactDataMultiple > &data, const Eigen::Ref< const VectorXs > &x) |
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void | calcDiff (const boost::shared_ptr< ContactDataMultiple > &data, const Eigen::Ref< const VectorXs > &x) |
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void | changeContactStatus (const std::string &name, bool active) |
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boost::shared_ptr< ContactDataMultiple > | createData (pinocchio::DataTpl< Scalar > *const data) |
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const std::vector< std::string > & | get_active () const |
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const ContactModelContainer & | get_contacts () const |
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const std::vector< std::string > & | get_inactive () const |
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const std::size_t & | get_nc () const |
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const std::size_t & | get_nc_total () const |
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const std::size_t & | get_nu () const |
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const boost::shared_ptr< StateMultibody > & | get_state () const |
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bool | getContactStatus (const std::string &name) const |
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void | removeContact (const std::string &name) |
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void | updateAcceleration (const boost::shared_ptr< ContactDataMultiple > &data, const VectorXs &dv) const |
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void | updateAccelerationDiff (const boost::shared_ptr< ContactDataMultiple > &data, const MatrixXs &ddv_dx) const |
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void | updateForce (const boost::shared_ptr< ContactDataMultiple > &data, const VectorXs &force) |
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void | updateForceDiff (const boost::shared_ptr< ContactDataMultiple > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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template<typename _Scalar>
class crocoddyl::ContactModelMultipleTpl< _Scalar >
Definition at line 39 of file multiple-contacts.hpp.
The documentation for this class was generated from the following file: