crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactDataAbstractTpl< _Scalar >:
Collaboration diagram for ContactDataAbstractTpl< _Scalar >:

Public Types

typedef ForceDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ForceDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ContactDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ForceDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ForceDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 

Public Attributes

VectorXs a0
 
MatrixXs da0_dx
 
pinocchio::SE3Tpl< Scalar >::ActionMatrixType fXj
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ForceDataAbstractTpl< _Scalar >
MatrixXs df_du
 Jacobian of the contact forces.
 
MatrixXs df_dx
 Jacobian of the contact forces.
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::FrameIndex frame
 Frame index of the contact frame.
 
MatrixXs Jc
 Contact Jacobian.
 
pinocchio::SE3Tpl< Scalar > jMf
 Local frame placement of the contact frame.
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ContactDataAbstractTpl< _Scalar >

Definition at line 71 of file contact-base.hpp.


The documentation for this struct was generated from the following file: