crocoddyl  1.5.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactDataAbstractTpl< _Scalar >:

Public Types

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 Attributes

VectorXs a0
 
MatrixXs da0_dx
 
MatrixXs df_du
 
MatrixXs df_dx
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::FrameIndex frame
 
pinocchio::SE3Tpl< Scalar >::ActionMatrixType fXj
 
MatrixXs Jc
 
pinocchio::SE3Tpl< Scalar > jMf
 
pinocchio::JointIndex joint
 
pinocchio::DataTpl< Scalar > * pinocchio
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

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

Definition at line 60 of file contact-base.hpp.


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