crocoddyl  1.6.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ImpulseData6DTpl< _Scalar > Struct Template Reference

Public Types

typedef ImpulseDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6xs Matrix6xs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ImpulseData6DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 

Public Attributes

MatrixXs df_dx
 
MatrixXs dv0_dq
 
pinocchio::ForceTpl< Scalar > f
 
Matrix6xs fJf
 
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
 
Matrix6xs v_partial_dq
 
Matrix6xs v_partial_dv
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ImpulseData6DTpl< _Scalar >

Definition at line 229 of file fwd.hpp.


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