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

Public Types

typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef ActivationModelQuadTpl< Scalar > ActivationModelQuad
 
typedef CostModelAbstractTpl< Scalar > Base
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef CostDataContactFrictionConeTpl< Scalar > Data
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef FrameForceTpl< Scalar > FrameForce
 
typedef FrameFrictionConeTpl< Scalar > FrameFrictionCone
 
typedef FrictionConeTpl< Scalar > FrictionCone
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixX3s MatrixX3s
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::Vector6s Vector6s
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from CostModelAbstractTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef ActivationModelQuadTpl< Scalar > ActivationModelQuad
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 CostModelContactFrictionConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref, const std::size_t &nu)
 
 CostModelContactFrictionConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref)
 
 CostModelContactFrictionConeTpl (boost::shared_ptr< StateMultibody > state, const FrameFrictionCone &fref, const std::size_t &nu)
 
 CostModelContactFrictionConeTpl (boost::shared_ptr< StateMultibody > state, const FrameFrictionCone &fref)
 
virtual void calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual void calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual boost::shared_ptr< CostDataAbstractcreateData (DataCollectorAbstract *const data)
 
const FrameFrictionConeget_fref () const
 
void set_fref (const FrameFrictionCone &fref)
 
- Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
 CostModelAbstractTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t &nu)
 
 CostModelAbstractTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation)
 
 CostModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t &nr, const std::size_t &nu)
 
 CostModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t &nr)
 
void calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
void calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
const boost::shared_ptr< ActivationModelAbstract > & get_activation () const
 
const std::size_t & get_nu () const
 
template<class T >
void get_reference (T &ref)
 
const boost::shared_ptr< StateMultibody > & get_state () const
 
template<class T >
void set_reference (T ref)
 

Public Attributes

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

Protected Member Functions

virtual void get_referenceImpl (const std::type_info &ti, void *pv)
 
virtual void set_referenceImpl (const std::type_info &ti, const void *pv)
 

Additional Inherited Members

- Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstractactivation_
 
std::size_t nu_
 
boost::shared_ptr< StateMultibodystate_
 
VectorXs unone_
 

Detailed Description

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

Definition at line 25 of file contact-friction-cone.hpp.


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