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ImpulseDataMultipleTpl< _Scalar > Struct Template Reference

Define the multi-impulse data. More...

#include <multiple-impulses.hpp>

Public Types

typedef ImpulseItemTpl< Scalar > ImpulseItem
typedef ImpulseModelMultipleTpl< Scalar > ImpulseModelMultiple
typedef MathBaseTpl< Scalar > MathBase
typedef MathBase::MatrixXs MatrixXs
typedef MathBase::VectorXs VectorXs

Public Member Functions

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

Public Attributes

MatrixXs dv0_dq
MatrixXs dvnext_dx
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
 External spatial forces in body coordinates.
ImpulseModelMultiple::ImpulseDataContainer impulses
 Stack of impulse data.
MatrixXs Jc
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
VectorXs vnext

Detailed Description

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

Define the multi-impulse data.

See also
ImpulseModelMultipleTpl

Definition at line 273 of file multiple-impulses.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>
typedef MathBaseTpl<Scalar> MathBase

Definition at line 277 of file multiple-impulses.hpp.

◆ ImpulseModelMultiple

template<typename _Scalar>
typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple

Definition at line 278 of file multiple-impulses.hpp.

◆ ImpulseItem

template<typename _Scalar>
typedef ImpulseItemTpl<Scalar> ImpulseItem

Definition at line 279 of file multiple-impulses.hpp.

◆ VectorXs

template<typename _Scalar>
typedef MathBase::VectorXs VectorXs

Definition at line 280 of file multiple-impulses.hpp.

◆ MatrixXs

template<typename _Scalar>
typedef MathBase::MatrixXs MatrixXs

Definition at line 281 of file multiple-impulses.hpp.

Constructor & Destructor Documentation

◆ ImpulseDataMultipleTpl()

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

Initialized a multi-impulse data.

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

Definition at line 290 of file multiple-impulses.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 276 of file multiple-impulses.hpp.

◆ Jc

template<typename _Scalar>
MatrixXs Jc

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

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

◆ dv0_dq

template<typename _Scalar>
MatrixXs dv0_dq

Jacobian of the desired spatial contact acceleration in frame coordinate $\frac{\partial\underline{\mathbf{v}}_0}{\partial\mathbf{q}}\in\mathbb{R}^{ni_{total}\times{nv}}$ (memory defined for active and inactive impulse)

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

◆ vnext

template<typename _Scalar>
VectorXs vnext

Constrained system velocity after impact in generalized coordinates $\dot{\mathbf{v}'}\in\mathbb{R}^{nv}$

Definition at line 319 of file multiple-impulses.hpp.

◆ dvnext_dx

template<typename _Scalar>
MatrixXs dvnext_dx

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

Definition at line 322 of file multiple-impulses.hpp.

◆ impulses

template<typename _Scalar>
ImpulseModelMultiple::ImpulseDataContainer impulses

Stack of impulse data.

Definition at line 327 of file multiple-impulses.hpp.

◆ fext

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

External spatial forces in body coordinates.

Definition at line 329 of file multiple-impulses.hpp.

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