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| ContactModelNumDiffTpl (const boost::shared_ptr< Base > &model) |
| Construct a new ContactModelNumDiff object from a ContactModelAbstract. More...
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virtual | ~ContactModelNumDiffTpl () |
| Default destructor of the ContactModelNumDiff object.
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void | calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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void | calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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boost::shared_ptr< ContactDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
| Create a Data object. More...
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const Scalar | get_disturbance () const |
| Get the disturbance_ object. More...
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const boost::shared_ptr< Base > & | get_model () const |
| Get the model_ object. More...
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void | set_disturbance (const Scalar disturbance) |
| Set the disturbance_ object. More...
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void | set_reevals (const std::vector< ReevaluationFunction > &reevals) |
| Register functions that take a pinocchio model, a pinocchio data, a state and a control. The updated data is used to evaluate of the gradient and hessian. More...
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void | updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force) |
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| ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu) |
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| ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc) |
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std::size_t | get_nc () const |
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std::size_t | get_nu () const |
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const boost::shared_ptr< StateMultibody > & | get_state () const |
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virtual void | print (std::ostream &os) const |
| Print relevant information of the contact model. More...
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void | setZeroForce (const boost::shared_ptr< ContactDataAbstract > &data) const |
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void | setZeroForceDiff (const boost::shared_ptr< ContactDataAbstract > &data) const |
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void | updateForceDiff (const boost::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const |
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template<typename _Scalar>
class crocoddyl::ContactModelNumDiffTpl< _Scalar >
Definition at line 61 of file fwd.hpp.