Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
ContactData1DTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactData1DTpl< _Scalar >:
ContactDataAbstractTpl< _Scalar > ForceDataAbstractTpl< _Scalar >

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
 
typedef pinocchio::ForceTpl< Scalar > Force
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix2s Matrix2s
 
typedef MathBase::Matrix3s Matrix3s
 
typedef MathBase::Matrix3xs Matrix3xs
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef pinocchio::MotionTpl< Scalar > Motion
 
typedef MathBase::Vector3s Vector3s
 
- Public Types inherited from ContactDataAbstractTpl< _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>
 ContactData1DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ContactDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ContactDataAbstractTpl (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

Vector3s a0_local
 
Matrix3s a0_skew
 
Matrix3s a0_world_skew
 
Matrix6xs a_partial_da
 
Matrix6xs a_partial_dq
 
Matrix6xs a_partial_dv
 
Matrix3xs da0_local_dx
 
Vector3s dp
 
Vector3s dp_local
 
Matrix3s dp_skew
 
Force f_local
 
Matrix3s f_skew
 
Matrix6xs fJf
 
Matrix3xs fJf_df
 
Matrix6xs fXjda_dq
 
Matrix6xs fXjda_dv
 
Matrix6xs fXjdv_dq
 
Matrix2s oRf
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
Motion v
 
Matrix6xs v_partial_dq
 
Matrix3s vv_skew
 
Matrix3s vw_skew
 
- Public Attributes inherited from ContactDataAbstractTpl< _Scalar >
VectorXs a0
 
MatrixXs da0_dx
 
MatrixXs dtau_dq
 
SE3::ActionMatrixType fXj
 
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::ContactData1DTpl< _Scalar >

Definition at line 185 of file contact-1d.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 189 of file contact-1d.hpp.

◆ Base

template<typename _Scalar >
typedef ContactDataAbstractTpl<Scalar> Base

Definition at line 190 of file contact-1d.hpp.

◆ Matrix2s

template<typename _Scalar >
typedef MathBase::Matrix2s Matrix2s

Definition at line 191 of file contact-1d.hpp.

◆ Matrix3s

template<typename _Scalar >
typedef MathBase::Matrix3s Matrix3s

Definition at line 192 of file contact-1d.hpp.

◆ Matrix3xs

template<typename _Scalar >
typedef MathBase::Matrix3xs Matrix3xs

Definition at line 193 of file contact-1d.hpp.

◆ Matrix6xs

template<typename _Scalar >
typedef MathBase::Matrix6xs Matrix6xs

Definition at line 194 of file contact-1d.hpp.

◆ Vector3s

template<typename _Scalar >
typedef MathBase::Vector3s Vector3s

Definition at line 195 of file contact-1d.hpp.

◆ Motion

template<typename _Scalar >
typedef pinocchio::MotionTpl<Scalar> Motion

Definition at line 196 of file contact-1d.hpp.

◆ Force

template<typename _Scalar >
typedef pinocchio::ForceTpl<Scalar> Force

Definition at line 197 of file contact-1d.hpp.

Constructor & Destructor Documentation

◆ ContactData1DTpl()

template<typename _Scalar >
template<template< typename Scalar > class Model>
ContactData1DTpl ( Model< Scalar > *const  model,
pinocchio::DataTpl< Scalar > *const  data 
)
inline

Definition at line 200 of file contact-1d.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 188 of file contact-1d.hpp.

◆ v

template<typename _Scalar >
Motion v

Definition at line 252 of file contact-1d.hpp.

◆ a0_local

template<typename _Scalar >
Vector3s a0_local

Definition at line 253 of file contact-1d.hpp.

◆ dp

template<typename _Scalar >
Vector3s dp

Definition at line 254 of file contact-1d.hpp.

◆ dp_local

template<typename _Scalar >
Vector3s dp_local

Definition at line 255 of file contact-1d.hpp.

◆ f_local

template<typename _Scalar >
Force f_local

Definition at line 256 of file contact-1d.hpp.

◆ da0_local_dx

template<typename _Scalar >
Matrix3xs da0_local_dx

Definition at line 257 of file contact-1d.hpp.

◆ fJf

template<typename _Scalar >
Matrix6xs fJf

Definition at line 258 of file contact-1d.hpp.

◆ v_partial_dq

template<typename _Scalar >
Matrix6xs v_partial_dq

Definition at line 259 of file contact-1d.hpp.

◆ a_partial_dq

template<typename _Scalar >
Matrix6xs a_partial_dq

Definition at line 260 of file contact-1d.hpp.

◆ a_partial_dv

template<typename _Scalar >
Matrix6xs a_partial_dv

Definition at line 261 of file contact-1d.hpp.

◆ a_partial_da

template<typename _Scalar >
Matrix6xs a_partial_da

Definition at line 262 of file contact-1d.hpp.

◆ vv_skew

template<typename _Scalar >
Matrix3s vv_skew

Definition at line 263 of file contact-1d.hpp.

◆ vw_skew

template<typename _Scalar >
Matrix3s vw_skew

Definition at line 264 of file contact-1d.hpp.

◆ a0_skew

template<typename _Scalar >
Matrix3s a0_skew

Definition at line 265 of file contact-1d.hpp.

◆ a0_world_skew

template<typename _Scalar >
Matrix3s a0_world_skew

Definition at line 266 of file contact-1d.hpp.

◆ dp_skew

template<typename _Scalar >
Matrix3s dp_skew

Definition at line 267 of file contact-1d.hpp.

◆ f_skew

template<typename _Scalar >
Matrix3s f_skew

Definition at line 268 of file contact-1d.hpp.

◆ fXjdv_dq

template<typename _Scalar >
Matrix6xs fXjdv_dq

Definition at line 269 of file contact-1d.hpp.

◆ fXjda_dq

template<typename _Scalar >
Matrix6xs fXjda_dq

Definition at line 270 of file contact-1d.hpp.

◆ fXjda_dv

template<typename _Scalar >
Matrix6xs fXjda_dv

Definition at line 271 of file contact-1d.hpp.

◆ oRf

template<typename _Scalar >
Matrix2s oRf

Definition at line 272 of file contact-1d.hpp.

◆ fJf_df

template<typename _Scalar >
Matrix3xs fJf_df

Definition at line 273 of file contact-1d.hpp.

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