Public Types | |
typedef ImpulseModelAbstractTpl< Scalar > | Base |
typedef ImpulseData6DTpl< Scalar > | Data |
typedef ImpulseDataAbstractTpl< Scalar > | ImpulseDataAbstract |
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 Member Functions | |
ImpulseModel6DTpl (boost::shared_ptr< StateMultibody > state, const std::size_t frame) | |
virtual void | calc (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
virtual void | calcDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
virtual boost::shared_ptr< ImpulseDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
std::size_t | get_frame () const |
virtual void | updateForce (const boost::shared_ptr< ImpulseDataAbstract > &data, const VectorXs &force) |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
std::size_t | ni_ |
boost::shared_ptr< StateMultibody > | state_ |