Public Types | |
| typedef ContactDataAbstractTpl< Scalar > | Base |
| typedef pinocchio::ForceTpl< Scalar > | Force |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef MathBase::Matrix3s | Matrix3s |
| typedef MathBase::Matrix6s | Matrix6s |
| typedef MathBase::Matrix6xs | Matrix6xs |
| typedef MathBase::MatrixXs | MatrixXs |
| typedef pinocchio::MotionTpl< Scalar > | Motion |
| typedef pinocchio::SE3Tpl< Scalar > | SE3 |
| 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> | |
| 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, PinocchioData *const data) | |
Public Attributes | |
| VectorXs | a0 |
| Motion | a0_local |
| Matrix6xs | a_partial_da |
| Matrix6xs | a_partial_dq |
| Matrix6xs | a_partial_dv |
| Matrix3s | av_skew |
| Matrix3s | av_world_skew |
| Matrix3s | aw_skew |
| Matrix3s | aw_world_skew |
| MatrixXs | da0_dx |
| Matrix6xs | da0_local_dx |
| MatrixXs | df_du |
| MatrixXs | df_dx |
| Force | f |
| Contact force expressed in the coordinate defined by type. | |
| Force | f_local |
| MatrixXs | fJf |
| MatrixXs | fJf_df |
| pinocchio::FrameIndex | frame |
| Frame index of the contact frame. | |
| Matrix3s | fv_skew |
| Matrix3s | fw_skew |
| SE3::ActionMatrixType | fXj |
| MatrixXs | Jc |
| Contact Jacobian. | |
| SE3 | jMf |
| Local frame placement of the contact frame. | |
| SE3 | lwaMl |
| PinocchioData * | pinocchio |
| Pinocchio data. | |
| SE3 | rMf |
| Matrix6s | rMf_Jlog6 |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
| Motion | v |
| Matrix6xs | v_partial_dq |
| 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::ContactData6DTpl< _Scalar >
Definition at line 174 of file contact-6d.hpp.
Member Typedef Documentation
◆ MathBase
| typedef MathBaseTpl<Scalar> MathBase |
Definition at line 178 of file contact-6d.hpp.
◆ Base
| typedef ContactDataAbstractTpl<Scalar> Base |
Definition at line 179 of file contact-6d.hpp.
◆ Matrix3s
| typedef MathBase::Matrix3s Matrix3s |
Definition at line 180 of file contact-6d.hpp.
◆ Matrix6xs
| typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 181 of file contact-6d.hpp.
◆ Matrix6s
| typedef MathBase::Matrix6s Matrix6s |
Definition at line 182 of file contact-6d.hpp.
◆ MatrixXs
| typedef MathBase::MatrixXs MatrixXs |
Definition at line 183 of file contact-6d.hpp.
◆ SE3
| typedef pinocchio::SE3Tpl<Scalar> SE3 |
Definition at line 184 of file contact-6d.hpp.
◆ Motion
| typedef pinocchio::MotionTpl<Scalar> Motion |
Definition at line 185 of file contact-6d.hpp.
◆ Force
| typedef pinocchio::ForceTpl<Scalar> Force |
Definition at line 186 of file contact-6d.hpp.
Constructor & Destructor Documentation
◆ ContactData6DTpl()
| inline |
Definition at line 189 of file contact-6d.hpp.
Member Data Documentation
◆ Scalar
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 177 of file contact-6d.hpp.
◆ rMf
| SE3 rMf |
Definition at line 235 of file contact-6d.hpp.
◆ lwaMl
| SE3 lwaMl |
Definition at line 236 of file contact-6d.hpp.
◆ v
| Motion v |
Definition at line 237 of file contact-6d.hpp.
◆ a0_local
| Motion a0_local |
Definition at line 238 of file contact-6d.hpp.
◆ f_local
| Force f_local |
Definition at line 239 of file contact-6d.hpp.
◆ da0_local_dx
| Matrix6xs da0_local_dx |
Definition at line 240 of file contact-6d.hpp.
◆ fJf
| MatrixXs fJf |
Definition at line 241 of file contact-6d.hpp.
◆ v_partial_dq
| Matrix6xs v_partial_dq |
Definition at line 242 of file contact-6d.hpp.
◆ a_partial_dq
| Matrix6xs a_partial_dq |
Definition at line 243 of file contact-6d.hpp.
◆ a_partial_dv
| Matrix6xs a_partial_dv |
Definition at line 244 of file contact-6d.hpp.
◆ a_partial_da
| Matrix6xs a_partial_da |
Definition at line 245 of file contact-6d.hpp.
◆ av_world_skew
| Matrix3s av_world_skew |
Definition at line 246 of file contact-6d.hpp.
◆ aw_world_skew
| Matrix3s aw_world_skew |
Definition at line 247 of file contact-6d.hpp.
◆ av_skew
| Matrix3s av_skew |
Definition at line 248 of file contact-6d.hpp.
◆ aw_skew
| Matrix3s aw_skew |
Definition at line 249 of file contact-6d.hpp.
◆ fv_skew
| Matrix3s fv_skew |
Definition at line 250 of file contact-6d.hpp.
◆ fw_skew
| Matrix3s fw_skew |
Definition at line 251 of file contact-6d.hpp.
◆ rMf_Jlog6
| Matrix6s rMf_Jlog6 |
Definition at line 252 of file contact-6d.hpp.
◆ fJf_df
| MatrixXs fJf_df |
Definition at line 253 of file contact-6d.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-6d.hpp
