ImpulseData3DTpl< _Scalar > Struct Template Reference

Inheritance diagram for ImpulseData3DTpl< _Scalar >:

Public Types
typedef ImpulseDataAbstractTpl< Scalar >	Base
typedef pinocchio::ForceTpl< Scalar >	Force
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3s	Matrix3s
typedef MathBase::Matrix3xs	Matrix3xs
typedef MathBase::Matrix6xs	Matrix6xs
typedef MathBase::Vector3s	Vector3s
Public Types inherited from ImpulseDataAbstractTpl< _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>
	ImpulseData3DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
Public Member Functions inherited from ImpulseDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
	ImpulseDataAbstractTpl (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
MatrixXs	df_dx
MatrixXs	dv0_dq
Matrix3xs	dv0_local_dq
Force	f
	Contact force expressed in the coordinate defined by type.
Force	f_local
Matrix3s	f_skew
Matrix6xs	fJf
Matrix3xs	fJf_df
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
Vector3s	v0
Matrix3s	v0_skew
Matrix3s	v0_world_skew
Matrix6xs	v_partial_dq
Matrix6xs	v_partial_dv
Public Attributes inherited from ImpulseDataAbstractTpl< _Scalar >
MatrixXs	df_dx
MatrixXs	dtau_dq
MatrixXs	dv0_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::ImpulseData3DTpl< _Scalar >

Definition at line 107 of file impulse-3d.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 111 of file impulse-3d.hpp.

Base

template<typename _Scalar>

typedef ImpulseDataAbstractTpl<Scalar> Base

Definition at line 112 of file impulse-3d.hpp.

Vector3s

template<typename _Scalar>

typedef MathBase::Vector3s Vector3s

Definition at line 113 of file impulse-3d.hpp.

Matrix3s

template<typename _Scalar>

typedef MathBase::Matrix3s Matrix3s

Definition at line 114 of file impulse-3d.hpp.

Matrix3xs

template<typename _Scalar>

typedef MathBase::Matrix3xs Matrix3xs

Definition at line 115 of file impulse-3d.hpp.

Matrix6xs

template<typename _Scalar>

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 116 of file impulse-3d.hpp.

Force

template<typename _Scalar>

typedef pinocchio::ForceTpl<Scalar> Force

Definition at line 117 of file impulse-3d.hpp.

Constructor & Destructor Documentation

ImpulseData3DTpl()

template<typename _Scalar>

template<template< typename Scalar > class Model>

ImpulseData3DTpl ( Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data )

inline

Definition at line 120 of file impulse-3d.hpp.

Member Data Documentation

Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 110 of file impulse-3d.hpp.

v0

template<typename _Scalar>

Vector3s v0

Definition at line 154 of file impulse-3d.hpp.

f_local

template<typename _Scalar>

Force f_local

Definition at line 155 of file impulse-3d.hpp.

dv0_local_dq

template<typename _Scalar>

Matrix3xs dv0_local_dq

Definition at line 156 of file impulse-3d.hpp.

fJf

template<typename _Scalar>

Matrix6xs fJf

Definition at line 157 of file impulse-3d.hpp.

v_partial_dq

template<typename _Scalar>

Matrix6xs v_partial_dq

Definition at line 158 of file impulse-3d.hpp.

v_partial_dv

template<typename _Scalar>

Matrix6xs v_partial_dv

Definition at line 159 of file impulse-3d.hpp.

v0_skew

template<typename _Scalar>

Matrix3s v0_skew

Definition at line 160 of file impulse-3d.hpp.

v0_world_skew

template<typename _Scalar>

Matrix3s v0_world_skew

Definition at line 161 of file impulse-3d.hpp.

f_skew

template<typename _Scalar>

Matrix3s f_skew

Definition at line 162 of file impulse-3d.hpp.

fJf_df

template<typename _Scalar>

Matrix3xs fJf_df

Definition at line 163 of file impulse-3d.hpp.

df_dx

template<typename _Scalar>

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

dv0_dq

template<typename _Scalar>

MatrixXs dv0_dq

Definition at line 142 of file impulse-base.hpp.

fXj

template<typename _Scalar>

SE3::ActionMatrixType fXj

Definition at line 141 of file impulse-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/impulses/impulse-3d.hpp