crocoddyl  1.5.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactModel3DTpl< _Scalar > Class Template Reference
Inheritance diagram for ContactModel3DTpl< _Scalar >:
Collaboration diagram for ContactModel3DTpl< _Scalar >:

Public Types

typedef ContactModelAbstractTpl< Scalar > Base
 
typedef ContactDataAbstractTpl< Scalar > ContactDataAbstract
 
typedef ContactData3DTpl< Scalar > Data
 
typedef FrameTranslationTpl< Scalar > FrameTranslation
 
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 Types inherited from ContactModelAbstractTpl< _Scalar >
typedef ContactDataAbstractTpl< Scalar > ContactDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ContactModel3DTpl (boost::shared_ptr< StateMultibody > state, const FrameTranslation &xref, const std::size_t &nu, const Vector2s &gains=Vector2s::Zero())
 
 ContactModel3DTpl (boost::shared_ptr< StateMultibody > state, const FrameTranslation &xref, const Vector2s &gains=Vector2s::Zero())
 
virtual void calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual boost::shared_ptr< ContactDataAbstractcreateData (pinocchio::DataTpl< Scalar > *const data)
 
const Vector2s & get_gains () const
 
const FrameTranslationget_xref () const
 
virtual void updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)
 
- Public Member Functions inherited from ContactModelAbstractTpl< _Scalar >
 ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t &nc, const std::size_t &nu)
 
 ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t &nc)
 
const std::size_t & get_nc () const
 
const std::size_t & get_nu () const
 
const boost::shared_ptr< StateMultibody > & get_state () const
 
void setZeroForce (const boost::shared_ptr< ContactDataAbstract > &data) const
 
void setZeroForceDiff (const boost::shared_ptr< ContactDataAbstract > &data) const
 
void updateForceDiff (const boost::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
 

Public Attributes

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

Additional Inherited Members

- Protected Attributes inherited from ContactModelAbstractTpl< _Scalar >
std::size_t nc_
 
std::size_t nu_
 
boost::shared_ptr< StateMultibodystate_
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ContactModel3DTpl< _Scalar >

Definition at line 25 of file contact-3d.hpp.


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