Inheritance diagram for ContactModel3DTpl< _Scalar >:

Public Types
typedef ContactModelAbstractTpl< Scalar >	Base

typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef ContactData3DTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::Matrix3s	Matrix3s

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::Vector2s	Vector2s

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ContactModelAbstractTpl< _Scalar >
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ContactModel3DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref, const pinocchio::ReferenceFrame type, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
	Initialize the 3d contact model. More...

	ContactModel3DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref, const pinocchio::ReferenceFrame type, const Vector2s &gains=Vector2s::Zero())
	Initialize the 3d contact model. More...

this assumes is	ContactModel3DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref, const Vector2s &gains=Vector2s::Zero())

virtual void	calc (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the 3d contact Jacobian and drift. More...

virtual void	calcDiff (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the derivatives of the 3d contact holonomic constraint. More...

template<typename NewScalar >
ContactModel3DTpl< NewScalar >	cast () const
	Cast the contact-3d model to a different scalar type. More...

virtual std::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data) override
	Create the 3d contact data.

	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModel3DTpl(std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero());) DEPRECATED("Use const ructor that passes the type type of contact

const Vector2s &	get_gains () const
	Return the Baumgarte stabilization gains.

const Vector3s &	get_reference () const
	Return the reference frame translation.

virtual void	print (std::ostream &os) const override
	Print relevant information of the 3d contact model. More...

void	set_reference (const Vector3s &reference)
	Modify the reference frame translation.

virtual void	updateForce (const std::shared_ptr< ContactDataAbstract > &data, const VectorXs &force) override
	Convert the force into a stack of spatial forces. More...

Public Member Functions inherited from ContactModelAbstractTpl< _Scalar >
	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc)

	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc, const std::size_t nu)
	Initialize the contact abstraction. More...

this assumes is	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const std::size_t nc)

	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModelAbstractTpl(std::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu);) DEPRECATED("Use const ructor that passes the type type of contact

pinocchio::FrameIndex	get_id () const
	Return the reference frame id.

std::size_t	get_nc () const
	Return the dimension of the contact.

std::size_t	get_nu () const
	Return the dimension of the control vector.

const std::shared_ptr< StateMultibody > &	get_state () const
	Return the state.

pinocchio::ReferenceFrame	get_type () const
	Return the type of contact.

void	set_id (const pinocchio::FrameIndex id)
	Modify the reference frame id.

void	set_type (const pinocchio::ReferenceFrame type)
	Modify the type of contact.

void	setZeroForce (const std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces to zero. More...

void	setZeroForceDiff (const std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces Jacobians to zero. More...

void	updateForceDiff (const std::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
	Convert the force into a stack of spatial forces. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from ContactModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
pinocchio::FrameIndex	id_
	Reference frame id of the contact.

std::size_t	nc_

std::size_t	nu_

std::shared_ptr< StateMultibody >	state_

pinocchio::ReferenceFrame	type_
	Type of contact.

Protected Attributes inherited from ContactModelAbstractTpl< _Scalar >
pinocchio::FrameIndex	id_
	Reference frame id of the contact.

std::size_t	nc_

std::size_t	nu_

std::shared_ptr< StateMultibody >	state_

pinocchio::ReferenceFrame	type_
	Type of contact.

Detailed Description

template<typename _Scalar>
class crocoddyl::ContactModel3DTpl< _Scalar >

Definition at line 20 of file contact-3d.hpp.

Constructor & Destructor Documentation

◆ ContactModel3DTpl() [1/2]

ContactModel3DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Vector3s &	xref,
		const pinocchio::ReferenceFrame	type,
		const std::size_t	nu,
		const Vector2s &	gains = `Vector2s::Zero()`
	)

Initialize the 3d contact model.

To learn more about the computation of the contact derivatives in different frames see S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos, ICHR 2022

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	xref	Contact position used for the Baumgarte stabilization
[in]	type	Type of contact
[in]	nu	Dimension of the control vector
[in]	gains	Baumgarte stabilization gains

◆ ContactModel3DTpl() [2/2]

ContactModel3DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Vector3s &	xref,
		const pinocchio::ReferenceFrame	type,
		const Vector2s &	gains = `Vector2s::Zero()`
	)

Initialize the 3d contact model.

The default nu is obtained from StateAbstractTpl::get_nv(). To learn more about the computation of the contact derivatives in different frames see S. Kleff et. al, On the Derivation of the Contact Dynamics in Arbitrary Frames: Application to Polishing with Talos, ICHR 2022

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the contact
[in]	xref	Contact position used for the Baumgarte stabilization
[in]	type	Type of contact
[in]	gains	Baumgarte stabilization gains

Member Function Documentation

◆ calc()

virtual void calc	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

overridevirtual

Compute the 3d contact Jacobian and drift.

Parameters

[in]	data	3d contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ContactModelAbstractTpl< _Scalar >.

◆ calcDiff()

virtual void calcDiff	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

overridevirtual

Compute the derivatives of the 3d contact holonomic constraint.

Parameters

[in]	data	3d contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ContactModelAbstractTpl< _Scalar >.

◆ updateForce()

virtual void updateForce	(	const std::shared_ptr< ContactDataAbstract > &	data,
		const VectorXs &	force
	)

overridevirtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	3d contact data
[in]	force	3d force

Implements ContactModelAbstractTpl< _Scalar >.

◆ cast()

ContactModel3DTpl<NewScalar> cast ( ) const

Cast the contact-3d model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar The new scalar type to cast to.

Returns: ContactModel3DTpl<NewScalar> A contact model with the new scalar type.

◆ print()

virtual void print ( std::ostream & os ) const

overridevirtual

Print relevant information of the 3d contact model.

Parameters

[out] os Output stream object

Reimplemented from ContactModelAbstractTpl< _Scalar >.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/contacts/contact-3d.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename _Scalar> class crocoddyl::ContactModel3DTpl< _Scalar >

Constructor & Destructor Documentation

◆ ContactModel3DTpl() [1/2]

◆ ContactModel3DTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ cast()

◆ print()

template<typename _Scalar>
class crocoddyl::ContactModel3DTpl< _Scalar >