|
| 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< DifferentialActionDataAbstract > | createData () |
|
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) |
|
| 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) |
|
template<typename _Scalar>
class crocoddyl::DifferentialActionModelContactFwdDynamicsTpl< _Scalar >
Definition at line 25 of file contact-fwddyn.hpp.