crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
DifferentialActionModelContactFwdDynamicsTpl< _Scalar > Class Template Reference
Inheritance diagram for DifferentialActionModelContactFwdDynamicsTpl< _Scalar >:
Collaboration diagram for DifferentialActionModelContactFwdDynamicsTpl< _Scalar >:

Public Types

typedef ActuationModelFloatingBaseTpl< Scalar > ActuationModelFloatingBase
 
typedef DifferentialActionModelAbstractTpl< Scalar > Base
 
typedef ContactModelMultipleTpl< Scalar > ContactModelMultiple
 
typedef CostModelSumTpl< Scalar > CostModelSum
 
typedef DifferentialActionDataContactFwdDynamicsTpl< Scalar > Data
 
typedef DifferentialActionDataAbstractTpl< Scalar > DifferentialActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from DifferentialActionModelAbstractTpl< _Scalar >
typedef DifferentialActionDataAbstractTpl< Scalar > DifferentialActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 DifferentialActionModelContactFwdDynamicsTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActuationModelFloatingBase > actuation, boost::shared_ptr< ContactModelMultiple > contacts, boost::shared_ptr< CostModelSum > costs, const Scalar &JMinvJt_damping=Scalar(0.), const bool &enable_force=false)
 
virtual void calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual void calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual boost::shared_ptr< DifferentialActionDataAbstractcreateData ()
 
const boost::shared_ptr< ActuationModelFloatingBase > & get_actuation () const
 
const VectorXs & get_armature () const
 
const boost::shared_ptr< ContactModelMultiple > & get_contacts () const
 
const boost::shared_ptr< CostModelSum > & get_costs () const
 
const Scalar & get_damping_factor () const
 
pinocchio::ModelTpl< Scalar > & get_pinocchio () const
 
void set_armature (const VectorXs &armature)
 
void set_damping_factor (const Scalar &damping)
 
- Public Member Functions inherited from DifferentialActionModelAbstractTpl< _Scalar >
 DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0)
 
virtual void calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 
void calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 
void calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
bool const & get_has_control_limits () const
 
const std::size_t & get_nr () const
 
const std::size_t & get_nu () const
 
const boost::shared_ptr< StateAbstract > & get_state () const
 
const VectorXs & get_u_lb () const
 
const VectorXs & get_u_ub () const
 
void set_u_lb (const VectorXs &u_lb)
 
void set_u_ub (const VectorXs &u_ub)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from DifferentialActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Additional Inherited Members

- Protected Member Functions inherited from DifferentialActionModelAbstractTpl< _Scalar >
void update_has_control_limits ()
 
- Protected Attributes inherited from DifferentialActionModelAbstractTpl< _Scalar >
bool has_control_limits_
 Indicates whether any of the control limits is finite.
 
std::size_t nr_
 Dimension of the cost residual.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 Model of the state.
 
VectorXs u_lb_
 Lower control limits.
 
VectorXs u_ub_
 Upper control limits.
 
VectorXs unone_
 Neutral state.
 

Detailed Description

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

Definition at line 25 of file contact-fwddyn.hpp.


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