crocoddyl  1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactData6DTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactData6DTpl< _Scalar >:
Collaboration diagram for ContactData6DTpl< _Scalar >:

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6s Matrix6s
 
typedef MathBase::Matrix6xs Matrix6xs
 
- Public Types inherited from ContactDataAbstractTpl< _Scalar >
typedef ForceDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ForceDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ContactData6DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ContactDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ContactDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ForceDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ForceDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 

Public Attributes

pinocchio::MotionTpl< Scalar > a
 
Matrix6xs a_partial_da
 
Matrix6xs a_partial_dq
 
Matrix6xs a_partial_dv
 
pinocchio::SE3Tpl< Scalar > rMf
 
Matrix6s rMf_Jlog6
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
pinocchio::MotionTpl< Scalar > v
 
Matrix6xs v_partial_dq
 
- Public Attributes inherited from ContactDataAbstractTpl< _Scalar >
VectorXs a0
 
MatrixXs da0_dx
 
pinocchio::SE3Tpl< Scalar >::ActionMatrixType fXj
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ForceDataAbstractTpl< _Scalar >
MatrixXs df_du
 Jacobian of the contact forces.
 
MatrixXs df_dx
 Jacobian of the contact forces.
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::FrameIndex frame
 Frame index of the contact frame.
 
MatrixXs Jc
 Contact Jacobian.
 
pinocchio::SE3Tpl< Scalar > jMf
 Local frame placement of the contact frame.
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ContactData6DTpl< _Scalar >

Definition at line 137 of file contact-6d.hpp.


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