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| ImpulseModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t &ni) |
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virtual void | calc (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
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virtual void | calcDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
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virtual boost::shared_ptr< ImpulseDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
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const std::size_t & | get_ni () const |
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const boost::shared_ptr< StateMultibody > & | get_state () const |
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void | setZeroForce (const boost::shared_ptr< ImpulseDataAbstract > &data) const |
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void | setZeroForceDiff (const boost::shared_ptr< ImpulseDataAbstract > &data) const |
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virtual void | updateForce (const boost::shared_ptr< ImpulseDataAbstract > &data, const VectorXs &force)=0 |
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void | updateForceDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const MatrixXs &df_dx) const |
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template<typename _Scalar>
class crocoddyl::ImpulseModelAbstractTpl< _Scalar >
Definition at line 181 of file fwd.hpp.