Inheritance diagram for ContactModelNumDiffTpl< _Scalar >:

Public Types
typedef ContactModelAbstractTpl< Scalar >	Base

typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef ContactDataNumDiffTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef boost::function< void(const VectorXs &, const VectorXs &)>	ReevaluationFunction

typedef MathBaseTpl< Scalar >::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
	ContactModelNumDiffTpl (const std::shared_ptr< Base > &model)
	Construct a new ContactModelNumDiff object from a ContactModelAbstract.

virtual	~ContactModelNumDiffTpl ()=default
	Default destructor of the ContactModelNumDiff object.

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

void	calcDiff (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the derivatives of the acceleration-based contact.

template<typename NewScalar >
ContactModelNumDiffTpl< NewScalar >	cast () const

std::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data) override
	Create a Data object.

const Scalar	get_disturbance () const
	Return the disturbance constant used in the numerical differentiation routine.

const std::shared_ptr< Base > &	get_model () const
	Return the acton model that we use to numerical differentiate.

void	set_disturbance (const Scalar disturbance)
	Modify the disturbance constant used in the numerical differentiation routine.

void	set_reevals (const std::vector< ReevaluationFunction > &reevals)
	Register functions that take a pinocchio model, a pinocchio data, a state and a control. The updated data is used to evaluate of the gradient and Hessian.

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

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.

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

virtual void	calc (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
	Compute the contact Jacobian and acceleration drift.

virtual void	calcDiff (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
	Compute the derivatives of the acceleration-based contact.

	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.

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

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.

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

virtual void	updateForce (const std::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)=0
	Convert the force into a stack of spatial forces.

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.

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
Scalar	e_jac_

std::shared_ptr< Base >	model_
	contact model to differentiate

std::size_t	nc_

std::size_t	nu_

std::vector< ReevaluationFunction >	reevals_
	functions that need execution before calc or calcDiff

std::shared_ptr< StateMultibody >	state_

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::ContactModelNumDiffTpl< _Scalar >

Definition at line 21 of file contact.hpp.

Member Typedef Documentation

◆ ContactDataAbstract

template<typename _Scalar >

typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract

Definition at line 27 of file contact.hpp.

◆ Base

template<typename _Scalar >

typedef ContactModelAbstractTpl<Scalar> Base

Definition at line 28 of file contact.hpp.

◆ Data

template<typename _Scalar >

typedef ContactDataNumDiffTpl<Scalar> Data

Definition at line 29 of file contact.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 30 of file contact.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 31 of file contact.hpp.

◆ ReevaluationFunction

template<typename _Scalar >

typedef boost::function<void(const VectorXs&, const VectorXs&)> ReevaluationFunction

Definition at line 33 of file contact.hpp.

Constructor & Destructor Documentation

◆ ContactModelNumDiffTpl()

template<typename _Scalar >

ContactModelNumDiffTpl ( const std::shared_ptr< Base > & model )

explicit

Construct a new ContactModelNumDiff object from a ContactModelAbstract.

Parameters

model

Member Function Documentation

◆ calc()

template<typename _Scalar >

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

override

Compute the contact Jacobian and acceleration drift.

Parameters

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

◆ calcDiff()

template<typename _Scalar >

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

override

Compute the derivatives of the acceleration-based contact.

Parameters

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

◆ updateForce()

template<typename _Scalar >

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

override

Convert the force into a stack of spatial forces.

Parameters

[in]	data	Contact data
[in]	force	Contact force

◆ createData()

template<typename _Scalar >

std::shared_ptr< ContactDataAbstract > createData ( pinocchio::DataTpl< Scalar > *const data )

overridevirtual

Create a Data object.

Parameters

data	is the Pinocchio data

Returns: std::shared_ptr<ContactModelAbstract>

Reimplemented from ContactModelAbstractTpl< _Scalar >.

◆ set_reevals()

template<typename _Scalar >

void set_reevals ( const std::vector< ReevaluationFunction > & reevals )

Register functions that take a pinocchio model, a pinocchio data, a state and a control. The updated data is used to evaluate of the gradient and Hessian.

Parameters

reevals are the registered functions.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 26 of file contact.hpp.

◆ model_

template<typename _Scalar >

std::shared_ptr<Base> model_

protected

contact model to differentiate

Definition at line 109 of file contact.hpp.

◆ e_jac_

template<typename _Scalar >

Scalar e_jac_

protected

Constant used for computing disturbances in Jacobian calculation

Definition at line 110 of file contact.hpp.

◆ reevals_

template<typename _Scalar >

std::vector<ReevaluationFunction> reevals_

protected

functions that need execution before calc or calcDiff

Definition at line 113 of file contact.hpp.

◆ nc_

template<typename _Scalar >

std::size_t nc_

protected

Definition at line 175 of file contact-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Definition at line 176 of file contact-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateMultibody> state_

protected

Definition at line 174 of file contact-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/numdiff/contact.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ContactDataAbstract

◆ Base

◆ Data

◆ MathBase

◆ VectorXs

◆ ReevaluationFunction

Constructor & Destructor Documentation

◆ ContactModelNumDiffTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ createData()

◆ set_reevals()

Member Data Documentation

◆ Scalar

◆ model_

◆ e_jac_

◆ reevals_

◆ nc_

◆ nu_

◆ state_