Crocoddyl
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ContactDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactDataAbstractTpl< _Scalar >:
ForceDataAbstractTpl< _Scalar >ContactData1DTpl< _Scalar >ContactData2DTpl< _Scalar >ContactData3DTpl< _Scalar >ContactData6DTpl< _Scalar >ContactDataNumDiffTpl< _Scalar >

Public Types

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>
 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
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

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

Definition at line 183 of file contact-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 187 of file contact-base.hpp.

◆ Base

template<typename _Scalar>
typedef ForceDataAbstractTpl<Scalar> Base

Definition at line 188 of file contact-base.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 189 of file contact-base.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 190 of file contact-base.hpp.

◆ SE3

template<typename _Scalar>
typedef pinocchio::SE3Tpl<Scalar> SE3

Definition at line 191 of file contact-base.hpp.

Constructor & Destructor Documentation

◆ ContactDataAbstractTpl()

template<typename _Scalar>
template<template< typename Scalar > class Model>
ContactDataAbstractTpl(Model< Scalar > *constmodel,
pinocchio::DataTpl< Scalar > *constdata )
inline

Definition at line 194 of file contact-base.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 186 of file contact-base.hpp.

◆ fXj

template<typename _Scalar>
SE3::ActionMatrixType fXj

Definition at line 215 of file contact-base.hpp.

◆ a0

template<typename _Scalar>
VectorXs a0

Definition at line 216 of file contact-base.hpp.

◆ da0_dx

template<typename _Scalar>
MatrixXs da0_dx

Definition at line 217 of file contact-base.hpp.

◆ dtau_dq

template<typename _Scalar>
MatrixXs dtau_dq

Definition at line 218 of file contact-base.hpp.

◆ df_du

template<typename _Scalar>
MatrixXs df_du

Jacobian of the contact forces expressed in the coordinate defined by type

Definition at line 54 of file force-base.hpp.

◆ df_dx

template<typename _Scalar>
MatrixXs df_dx

Jacobian of the contact forces expressed in the coordinate defined by type

Definition at line 52 of file force-base.hpp.

◆ f

template<typename _Scalar>
Force f

Contact force expressed in the coordinate defined by type.

Definition at line 50 of file force-base.hpp.

◆ frame

template<typename _Scalar>
pinocchio::FrameIndex frame

Frame index of the contact frame.

Definition at line 46 of file force-base.hpp.

◆ Jc

template<typename _Scalar>
MatrixXs Jc

Contact Jacobian.

Definition at line 49 of file force-base.hpp.

◆ jMf

template<typename _Scalar>
SE3 jMf

Local frame placement of the contact frame.

Definition at line 48 of file force-base.hpp.

◆ pinocchio

template<typename _Scalar>
PinocchioData* pinocchio

Pinocchio data.

Definition at line 45 of file force-base.hpp.

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