crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactModelMultipleTpl< _Scalar > Class Template Reference

Public Types

typedef ContactDataAbstractTpl< Scalar > ContactDataAbstract
 
typedef std::map< std::string, boost::shared_ptr< ContactDataAbstract > > ContactDataContainer
 
typedef ContactDataMultipleTpl< Scalar > ContactDataMultiple
 
typedef ContactItemTpl< Scalar > ContactItem
 
typedef ContactModelAbstractTpl< Scalar > ContactModelAbstract
 
typedef std::map< std::string, boost::shared_ptr< ContactItem > > ContactModelContainer
 
typedef pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > >::iterator ForceIterator
 
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

 ContactModelMultipleTpl (boost::shared_ptr< StateMultibody > state, const std::size_t &nu)
 
 ContactModelMultipleTpl (boost::shared_ptr< StateMultibody > state)
 
void addContact (const std::string &name, boost::shared_ptr< ContactModelAbstract > contact, bool active=true)
 
void calc (const boost::shared_ptr< ContactDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
 
void calcDiff (const boost::shared_ptr< ContactDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
 
void changeContactStatus (const std::string &name, bool active)
 
boost::shared_ptr< ContactDataMultiplecreateData (pinocchio::DataTpl< Scalar > *const data)
 
const std::vector< std::string > & get_active () const
 
const ContactModelContainer & get_contacts () const
 
const std::vector< std::string > & get_inactive () const
 
const std::size_t & get_nc () const
 
const std::size_t & get_nc_total () const
 
const std::size_t & get_nu () const
 
const boost::shared_ptr< StateMultibody > & get_state () const
 
bool getContactStatus (const std::string &name) const
 
void removeContact (const std::string &name)
 
void updateAcceleration (const boost::shared_ptr< ContactDataMultiple > &data, const VectorXs &dv) const
 
void updateAccelerationDiff (const boost::shared_ptr< ContactDataMultiple > &data, const MatrixXs &ddv_dx) const
 
void updateForce (const boost::shared_ptr< ContactDataMultiple > &data, const VectorXs &force)
 
void updateForceDiff (const boost::shared_ptr< ContactDataMultiple > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

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: