Inheritance diagram for ContactModel2DTpl< _Scalar >:

Public Types
typedef ContactModelAbstractTpl< Scalar >	Base
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract
typedef ContactData2DTpl< Scalar >	Data
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3s	Matrix3s
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::Vector2s	Vector2s
typedef MathBase::Vector3s	Vector3s
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ContactModelAbstractTpl< _Scalar >
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ContactModel2DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector2s &xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
	Initialize the 2d contact model.
	ContactModel2DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector2s &xref, const Vector2s &gains=Vector2s::Zero())
	Initialize the 2d contact model.
virtual void	calc (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the 2d contact Jacobian and drift.
virtual void	calcDiff (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the derivatives of the 2d contact holonomic constraint.
template<typename NewScalar>
ContactModel2DTpl< NewScalar >	cast () const
	Cast the contact-2d model to a different scalar type.
virtual std::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data) override
	Create the 2d contact data.
const Vector2s &	get_gains () const
	Create the 2d contact data.
const Vector2s &	get_reference () const
	Return the reference frame translation.
virtual void	print (std::ostream &os) const override
	Print relevant information of the 2d contact model.
void	set_reference (const Vector2s &reference)
	Modify the reference frame translation.
virtual void	updateForce (const std::shared_ptr< ContactDataAbstract > &data, const VectorXs &force) override
	Convert the force into a stack of spatial forces.
Public Member Functions inherited from ContactModelAbstractTpl< _Scalar >
	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc)
	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc, const std::size_t nu)
	Initialize the contact abstraction.
this assumes is	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const std::size_t nc)
	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModelAbstractTpl(std::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu);) DEPRECATED("Use const ructor that passes the type type of contact
pinocchio::FrameIndex	get_id () const
	Return the reference frame id.
std::size_t	get_nc () const
	Return the dimension of the contact.
std::size_t	get_nu () const
	Return the dimension of the control vector.
const std::shared_ptr< StateMultibody > &	get_state () const
	Return the state.
pinocchio::ReferenceFrame	get_type () const
	Return the type of contact.
void	set_id (const pinocchio::FrameIndex id)
	Modify the reference frame id.
void	set_type (const pinocchio::ReferenceFrame type)
	Modify the type of contact.
void	setZeroForce (const std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces to zero.
void	setZeroForceDiff (const std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces Jacobians to zero.
void	updateForceDiff (const std::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
	Convert the force into a stack of spatial forces.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Public Attributes inherited from ContactModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
pinocchio::FrameIndex	id_
	Reference frame id of the contact.
std::size_t	nc_
std::size_t	nu_
std::shared_ptr< StateMultibody >	state_
Protected Attributes inherited from ContactModelAbstractTpl< _Scalar >
pinocchio::FrameIndex	id_
	Reference frame id of the contact.
std::size_t	nc_
std::size_t	nu_
std::shared_ptr< StateMultibody >	state_
pinocchio::ReferenceFrame	type_
	Type of contact.

Detailed Description

template<typename _Scalar>
class crocoddyl::ContactModel2DTpl< _Scalar >

Definition at line 19 of file contact-2d.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 25 of file contact-2d.hpp.

◆ Base

template<typename _Scalar>

typedef ContactModelAbstractTpl<Scalar> Base

Definition at line 26 of file contact-2d.hpp.

◆ Data

template<typename _Scalar>

typedef ContactData2DTpl<Scalar> Data

Definition at line 27 of file contact-2d.hpp.

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 28 of file contact-2d.hpp.

◆ ContactDataAbstract

template<typename _Scalar>

typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract

Definition at line 29 of file contact-2d.hpp.

◆ Vector2s

template<typename _Scalar>

typedef MathBase::Vector2s Vector2s

Definition at line 30 of file contact-2d.hpp.

◆ Vector3s

template<typename _Scalar>

typedef MathBase::Vector3s Vector3s

Definition at line 31 of file contact-2d.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 32 of file contact-2d.hpp.

◆ Matrix3s

template<typename _Scalar>

typedef MathBase::Matrix3s Matrix3s

Definition at line 33 of file contact-2d.hpp.

Constructor & Destructor Documentation

◆ ContactModel2DTpl() [1/2]

template<typename _Scalar>

ContactModel2DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Vector2s &	xref,
		const std::size_t	nu,
		const Vector2s &	gains = Vector2s::Zero() )

Initialize the 2d contact model.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	xref	Contact position used for the Baumgarte stabilization
[in]	nu	Dimension of the control vector
[in]	gains	Baumgarte stabilization gains

◆ ContactModel2DTpl() [2/2]

template<typename _Scalar>

ContactModel2DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Vector2s &	xref,
		const Vector2s &	gains = Vector2s::Zero() )

Initialize the 2d contact model.

The default nu is obtained from StateAbstractTpl::get_nv().

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	xref	Contact position used for the Baumgarte stabilization
[in]	gains	Baumgarte stabilization gains

Member Function Documentation

◆ calc()

template<typename _Scalar>

virtual void calc	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x )

overridevirtual

Compute the 2d contact Jacobian and drift.

Parameters

[in]	data	2d contact data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	u	Control input $\mathbf{u}\in\mathbb{R}^{nu}$

Implements ContactModelAbstractTpl< _Scalar >.

◆ calcDiff()

template<typename _Scalar>

virtual void calcDiff	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x )

overridevirtual

Compute the derivatives of the 2d contact holonomic constraint.

Parameters

[in]	data	2d contact data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	u	Control input $\mathbf{u}\in\mathbb{R}^{nu}$

Implements ContactModelAbstractTpl< _Scalar >.

◆ updateForce()

template<typename _Scalar>

virtual void updateForce	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const VectorXs &	force )

overridevirtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	2d contact data
[in]	force	2d force

Implements ContactModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

virtual std::shared_ptr< ContactDataAbstract > createData ( pinocchio::DataTpl< Scalar > *const data )

overridevirtual

Create the 2d contact data.

Reimplemented from ContactModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar>

template<typename NewScalar>

ContactModel2DTpl< NewScalar > cast ( ) const

Cast the contact-2d model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar The new scalar type to cast to.

Returns: ContactModel2DTpl<NewScalar> A contact model with the new scalar type.

◆ print()

template<typename _Scalar>

virtual void print ( std::ostream & os ) const

overridevirtual

Print relevant information of the 2d contact model.

Parameters

[out] os Output stream object

Reimplemented from ContactModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 24 of file contact-2d.hpp.

◆ id_

template<typename _Scalar>

pinocchio::FrameIndex id_

protected

Reference frame id of the contact.

Definition at line 177 of file contact-base.hpp.

◆ nc_

template<typename _Scalar>

std::size_t nc_

protected

Definition at line 175 of file contact-base.hpp.

◆ nu_

template<typename _Scalar>

std::size_t nu_

protected

Definition at line 176 of file contact-base.hpp.

◆ state_

template<typename _Scalar>

std::shared_ptr<StateMultibody> state_

protected

Definition at line 174 of file contact-base.hpp.

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

/build/source/include/crocoddyl/multibody/contacts/contact-2d.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ ContactDataAbstract

◆ Vector2s

◆ Vector3s

◆ VectorXs

◆ Matrix3s

Constructor & Destructor Documentation

◆ ContactModel2DTpl() [1/2]

◆ ContactModel2DTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ createData()

◆ cast()

◆ print()

Member Data Documentation

◆ Scalar

◆ id_

◆ nc_

◆ nu_

◆ state_