Inheritance diagram for ImpulseModel3DTpl< _Scalar >:

Public Types
typedef ImpulseModelAbstractTpl< Scalar >	Base

typedef ImpulseData3DTpl< Scalar >	Data

typedef ImpulseDataAbstractTpl< Scalar >	ImpulseDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	Matrix3s

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::Vector2s	Vector2s

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ImpulseModelAbstractTpl< _Scalar >
typedef ImpulseDataAbstractTpl< Scalar >	ImpulseDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ImpulseModel3DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const pinocchio::ReferenceFrame type=pinocchio::ReferenceFrame::LOCAL)
	Initialize the 3d impulse model.

virtual void	calc (const std::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the 6d impulse Jacobian.

virtual void	calcDiff (const std::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the derivatives of the 6d impulse holonomic constraint.

template<typename NewScalar >
ImpulseModel3DTpl< NewScalar >	cast () const
	Cast the impulse-3d model to a different scalar type.

virtual std::shared_ptr< ImpulseDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data) override
	Create the 6d impulse data.

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

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

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

	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ImpulseModelAbstractTpl(std::shared_ptr< StateMultibody > state, const std::size_t nc);) virtual ~ImpulseModelAbstractTpl()=default

DEPRECATED("Use get_nc().", std::size_t get_ni() const ;) std pinocchio::FrameIndex	get_id () const
	Return the reference frame id.

std::size_t	get_nc () const

const std::shared_ptr< StateMultibody > &	get_state () const

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< ImpulseDataAbstract > &data) const

void	setZeroForceDiff (const std::shared_ptr< ImpulseDataAbstract > &data) const

void	updateForceDiff (const std::shared_ptr< ImpulseDataAbstract > &data, const MatrixXs &df_dx) const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

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

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

std::shared_ptr< StateMultibody >	state_

pinocchio::ReferenceFrame	type_
	Type of contact.

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

std::size_t	nc_

std::shared_ptr< StateMultibody >	state_

pinocchio::ReferenceFrame	type_
	Type of contact.

Detailed Description

template<typename _Scalar>
class crocoddyl::ImpulseModel3DTpl< _Scalar >

Definition at line 19 of file impulse-3d.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 25 of file impulse-3d.hpp.

◆ Base

template<typename _Scalar >

typedef ImpulseModelAbstractTpl<Scalar> Base

Definition at line 26 of file impulse-3d.hpp.

◆ Data

template<typename _Scalar >

typedef ImpulseData3DTpl<Scalar> Data

Definition at line 27 of file impulse-3d.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 28 of file impulse-3d.hpp.

◆ ImpulseDataAbstract

template<typename _Scalar >

typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract

Definition at line 29 of file impulse-3d.hpp.

◆ Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s Vector2s

Definition at line 30 of file impulse-3d.hpp.

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s Vector3s

Definition at line 31 of file impulse-3d.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 32 of file impulse-3d.hpp.

◆ Matrix3s

template<typename _Scalar >

typedef MathBase::MatrixXs Matrix3s

Definition at line 33 of file impulse-3d.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 34 of file impulse-3d.hpp.

Constructor & Destructor Documentation

◆ ImpulseModel3DTpl()

template<typename _Scalar >

ImpulseModel3DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const pinocchio::ReferenceFrame	type = `pinocchio::ReferenceFrame::LOCAL`
	)

Initialize the 3d impulse model.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the impulse
[in]	type	Type of impulse (default LOCAL)

Member Function Documentation

◆ calc()

template<typename _Scalar >

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

overridevirtual

Compute the 6d impulse Jacobian.

Parameters

[in]	data	6d impulse data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Implements ImpulseModelAbstractTpl< _Scalar >.

◆ calcDiff()

template<typename _Scalar >

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

overridevirtual

Compute the derivatives of the 6d impulse holonomic constraint.

Parameters

[in]	data	6d impulse data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Implements ImpulseModelAbstractTpl< _Scalar >.

◆ updateForce()

template<typename _Scalar >

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

overridevirtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	6d impulse data
[in]	force	6d impulse

Implements ImpulseModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

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

overridevirtual

Create the 6d impulse data.

Reimplemented from ImpulseModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar >

template<typename NewScalar >

ImpulseModel3DTpl< NewScalar > cast ( ) const

Cast the impulse-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: ImpulseModel3DTpl<NewScalar> An impulse model with the new scalar type.

◆ print()

template<typename _Scalar >

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

overridevirtual

Print relevant information of the 3d impulse model.

Parameters

[out] os Output stream object

Reimplemented from ImpulseModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 24 of file impulse-3d.hpp.

◆ id_

template<typename _Scalar >

pinocchio::FrameIndex id_

protected

Reference frame id of the contact.

Definition at line 107 of file impulse-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateMultibody> state_

protected

Definition at line 105 of file impulse-base.hpp.

◆ type_

template<typename _Scalar >

pinocchio::ReferenceFrame type_

protected

Type of contact.

Definition at line 108 of file impulse-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/impulses/impulse-3d.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ ImpulseDataAbstract

◆ Vector2s

◆ Vector3s

◆ VectorXs

◆ Matrix3s

◆ MatrixXs

Constructor & Destructor Documentation

◆ ImpulseModel3DTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ createData()

◆ cast()

◆ print()

Member Data Documentation

◆ Scalar

◆ id_

◆ state_

◆ type_