ContactDataNumDiffTpl< _Scalar > Struct Template Reference

Inheritance diagram for ContactDataNumDiffTpl< _Scalar >:

Public Types
typedef ContactDataAbstractTpl< Scalar >	Base
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBaseTpl< Scalar >::VectorXs	VectorXs
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>
	ContactDataNumDiffTpl (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
MatrixXs	da0_dx
std::shared_ptr< Base >	data_0
	The data at the approximation point.
std::vector< std::shared_ptr< Base > >	data_x
	The temporary data associated with the state variation.
VectorXs	dx
	State disturbance.
Force	f
	Contact force expressed in the coordinate defined by type.
PinocchioData *	pinocchio
	Pinocchio data.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Scalar	x_norm
	Norm of the state vector.
Scalar	xh_jac
	Disturbance value used for computing .
VectorXs	xp
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

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

Definition at line 131 of file contact.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 135 of file contact.hpp.

Base

template<typename _Scalar>

typedef ContactDataAbstractTpl<Scalar> Base

Definition at line 136 of file contact.hpp.

VectorXs

template<typename _Scalar>

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 137 of file contact.hpp.

Constructor & Destructor Documentation

ContactDataNumDiffTpl()

template<typename _Scalar>

template<template< typename Scalar > class Model>

ContactDataNumDiffTpl ( Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data )

inlineexplicit

Definition at line 140 of file contact.hpp.

~ContactDataNumDiffTpl()

template<typename _Scalar>

virtual ~ContactDataNumDiffTpl ( )

inlinevirtual

Definition at line 155 of file contact.hpp.

Member Data Documentation

Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 134 of file contact.hpp.

x_norm

template<typename _Scalar>

Scalar x_norm

Norm of the state vector.

Definition at line 162 of file contact.hpp.

xh_jac

template<typename _Scalar>

Scalar xh_jac

Disturbance value used for computing .

Definition at line 164 of file contact.hpp.

dx

template<typename _Scalar>

VectorXs dx

State disturbance.

Definition at line 165 of file contact.hpp.

xp

template<typename _Scalar>

VectorXs xp

The integrated state from the disturbance on one DoF " \iline 167 \_form#91@_fakenl".

Definition at line 166 of file contact.hpp.

data_0

template<typename _Scalar>

std::shared_ptr<Base> data_0

The data at the approximation point.

Definition at line 168 of file contact.hpp.

data_x

template<typename _Scalar>

std::vector<std::shared_ptr<Base> > data_x

The temporary data associated with the state variation.

Definition at line 170 of file contact.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.

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

• /build/source/include/crocoddyl/multibody/fwd.hpp
• /build/source/include/crocoddyl/multibody/numdiff/contact.hpp