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ContactDataMultipleTpl< _Scalar > Struct Template Reference

Define the multi-contact data. More...

#include <multiple-contacts.hpp>

Public Types

typedef ContactItemTpl< Scalar > ContactItem
typedef ContactModelMultipleTpl< Scalar > ContactModelMultiple
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

template<template< typename Scalar > class Model>
 ContactDataMultipleTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 Initialized a multi-contact data.

Public Attributes

VectorXs a0
ContactModelMultiple::ContactDataContainer contacts
 Stack of contact data.
MatrixXs da0_dx
MatrixXs ddv_dx
VectorXs dv
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
 External spatial forces in body coordinates.
MatrixXs Jc
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Detailed Description

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

Define the multi-contact data.

See also
ContactModelMultipleTpl

Definition at line 308 of file multiple-contacts.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 312 of file multiple-contacts.hpp.

◆ ContactModelMultiple

template<typename _Scalar>
typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Definition at line 313 of file multiple-contacts.hpp.

◆ ContactItem

template<typename _Scalar>
typedef ContactItemTpl<Scalar> ContactItem

Definition at line 314 of file multiple-contacts.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 315 of file multiple-contacts.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 316 of file multiple-contacts.hpp.

Constructor & Destructor Documentation

◆ ContactDataMultipleTpl()

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

Initialized a multi-contact data.

Parameters
[in]modelMulti-contact model
[in]dataPinocchio data

Definition at line 325 of file multiple-contacts.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 311 of file multiple-contacts.hpp.

◆ Jc

template<typename _Scalar>
MatrixXs Jc

Contact Jacobian in frame coordinate $\mathbf{J}_c\in\mathbb{R}^{nc_{total}\times{nv}}$ (memory defined for active and inactive contacts)

Definition at line 348 of file multiple-contacts.hpp.

◆ a0

template<typename _Scalar>
VectorXs a0

Desired spatial contact acceleration in frame coordinate $\underline{\mathbf{a}}_0\in\mathbb{R}^{nc_{total}}$ (memory defined for active and inactive contacts)

Definition at line 351 of file multiple-contacts.hpp.

◆ da0_dx

template<typename _Scalar>
MatrixXs da0_dx

Jacobian of the desired spatial contact acceleration in frame coordinate $\frac{\partial\underline{\mathbf{a}}_0}{\partial\mathbf{x}}\in\mathbb{R}^{nc_{total}\times{ndx}}$ (memory defined for active and inactive contacts)

Definition at line 355 of file multiple-contacts.hpp.

◆ dv

template<typename _Scalar>
VectorXs dv

Constrained system acceleration in generalized coordinates $\dot{\mathbf{v}}\in\mathbb{R}^{nv}$

Definition at line 359 of file multiple-contacts.hpp.

◆ ddv_dx

template<typename _Scalar>
MatrixXs ddv_dx

Jacobian of the system acceleration in generalized coordinates $\frac{\partial\dot{\mathbf{v}}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times < ndx}$

Definition at line 362 of file multiple-contacts.hpp.

◆ contacts

template<typename _Scalar>
ContactModelMultiple::ContactDataContainer contacts

Stack of contact data.

Definition at line 367 of file multiple-contacts.hpp.

◆ fext

template<typename _Scalar>
pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > fext

External spatial forces in body coordinates.

Definition at line 369 of file multiple-contacts.hpp.

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