Public Types | |
| typedef ContactDataAbstractTpl< Scalar > | Base |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::Matrix2s | Matrix2s |
| typedef MathBase::Matrix3s | Matrix3s |
| typedef MathBase::Matrix6xs | Matrix6xs |
| typedef MathBase::Vector3s | Vector3s |
| Public Types inherited from ContactDataAbstractTpl< _Scalar > | |
| typedef ForceDataAbstractTpl< Scalar > | Base |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::MatrixXs | MatrixXs |
| typedef pinocchio::SE3Tpl< Scalar > | SE3 |
| typedef MathBase::VectorXs | VectorXs |
| Public Types inherited from ForceDataAbstractTpl< _Scalar > | |
| typedef pinocchio::ForceTpl< Scalar > | Force |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::MatrixXs | MatrixXs |
| typedef pinocchio::DataTpl< Scalar > | PinocchioData |
| typedef pinocchio::SE3Tpl< Scalar > | SE3 |
| typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
| template<template< typename Scalar > class Model> | |
| ContactData2DTpl (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, PinocchioData *const data) | |
Public Attributes | |
| pinocchio::MotionTpl< Scalar > | a |
| VectorXs | a0 |
| Matrix6xs | a_partial_da |
| Matrix6xs | a_partial_dq |
| Matrix6xs | a_partial_dv |
| MatrixXs | da0_dx |
| MatrixXs | df_du |
| MatrixXs | df_dx |
| Force | f |
| Contact force expressed in the coordinate defined by type. | |
| Matrix6xs | fJf |
| pinocchio::FrameIndex | frame |
| Frame index of the contact frame. | |
| SE3::ActionMatrixType | fXj |
| Matrix6xs | fXjda_dq |
| Matrix6xs | fXjda_dv |
| Matrix6xs | fXjdv_dq |
| MatrixXs | Jc |
| Contact Jacobian. | |
| SE3 | jMf |
| Local frame placement of the contact frame. | |
| Matrix2s | oRf |
| PinocchioData * | pinocchio |
| Pinocchio data. | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| pinocchio::MotionTpl< Scalar > | v |
| Matrix6xs | v_partial_dq |
| Vector3s | vv |
| Matrix3s | vv_skew |
| Vector3s | vw |
| Matrix3s | vw_skew |
| Public Attributes inherited from ContactDataAbstractTpl< _Scalar > | |
| VectorXs | a0 |
| MatrixXs | da0_dx |
| MatrixXs | df_du |
| MatrixXs | df_dx |
| MatrixXs | dtau_dq |
| Force | f |
| Contact force expressed in the coordinate defined by type. | |
| pinocchio::FrameIndex | frame |
| Frame index of the contact frame. | |
| SE3::ActionMatrixType | fXj |
| MatrixXs | Jc |
| Contact Jacobian. | |
| SE3 | jMf |
| Local frame placement of the contact frame. | |
| PinocchioData * | pinocchio |
| Pinocchio data. | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| Public Attributes inherited from ForceDataAbstractTpl< _Scalar > | |
| MatrixXs | df_du |
| MatrixXs | df_dx |
| Force | f |
| Contact force expressed in the coordinate defined by type. | |
| Force | fext |
| External spatial force at the parent joint level. | |
| pinocchio::FrameIndex | frame |
| Frame index of the contact frame. | |
| MatrixXs | Jc |
| Contact Jacobian. | |
| SE3 | jMf |
| Local frame placement of the contact frame. | |
| PinocchioData * | pinocchio |
| Pinocchio data. | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| pinocchio::ReferenceFrame | type |
| Type of contact. | |
Detailed Description
struct crocoddyl::ContactData2DTpl< _Scalar >
Definition at line 145 of file contact-2d.hpp.
Member Typedef Documentation
◆ MathBase
| typedef MathBaseTpl<Scalar> MathBase |
Definition at line 149 of file contact-2d.hpp.
◆ Base
| typedef ContactDataAbstractTpl<Scalar> Base |
Definition at line 150 of file contact-2d.hpp.
◆ Matrix2s
| typedef MathBase::Matrix2s Matrix2s |
Definition at line 151 of file contact-2d.hpp.
◆ Matrix3s
| typedef MathBase::Matrix3s Matrix3s |
Definition at line 152 of file contact-2d.hpp.
◆ Matrix6xs
| typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 153 of file contact-2d.hpp.
◆ Vector3s
| typedef MathBase::Vector3s Vector3s |
Definition at line 154 of file contact-2d.hpp.
Constructor & Destructor Documentation
◆ ContactData2DTpl()
| inline |
Definition at line 157 of file contact-2d.hpp.
Member Data Documentation
◆ Scalar
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 148 of file contact-2d.hpp.
◆ v
| pinocchio::MotionTpl<Scalar> v |
Definition at line 198 of file contact-2d.hpp.
◆ a
| pinocchio::MotionTpl<Scalar> a |
Definition at line 199 of file contact-2d.hpp.
◆ fJf
| Matrix6xs fJf |
Definition at line 200 of file contact-2d.hpp.
◆ v_partial_dq
| Matrix6xs v_partial_dq |
Definition at line 201 of file contact-2d.hpp.
◆ a_partial_dq
| Matrix6xs a_partial_dq |
Definition at line 202 of file contact-2d.hpp.
◆ a_partial_dv
| Matrix6xs a_partial_dv |
Definition at line 203 of file contact-2d.hpp.
◆ a_partial_da
| Matrix6xs a_partial_da |
Definition at line 204 of file contact-2d.hpp.
◆ fXjdv_dq
| Matrix6xs fXjdv_dq |
Definition at line 205 of file contact-2d.hpp.
◆ fXjda_dq
| Matrix6xs fXjda_dq |
Definition at line 206 of file contact-2d.hpp.
◆ fXjda_dv
| Matrix6xs fXjda_dv |
Definition at line 207 of file contact-2d.hpp.
◆ vv
| Vector3s vv |
Definition at line 208 of file contact-2d.hpp.
◆ vw
| Vector3s vw |
Definition at line 209 of file contact-2d.hpp.
◆ vv_skew
| Matrix3s vv_skew |
Definition at line 210 of file contact-2d.hpp.
◆ vw_skew
| Matrix3s vw_skew |
Definition at line 211 of file contact-2d.hpp.
◆ oRf
| Matrix2s oRf |
Definition at line 212 of file contact-2d.hpp.
◆ a0
| VectorXs a0 |
Definition at line 216 of file contact-base.hpp.
◆ da0_dx
| MatrixXs da0_dx |
Definition at line 217 of file contact-base.hpp.
◆ df_du
Jacobian of the contact forces expressed in the coordinate defined by type
◆ df_dx
Jacobian of the contact forces expressed in the coordinate defined by type
◆ fXj
| SE3::ActionMatrixType fXj |
Definition at line 215 of file contact-base.hpp.
The documentation for this struct was generated from the following file:
- /build/source/include/crocoddyl/multibody/contacts/contact-2d.hpp
