Public Types | |
typedef ImpulseDataAbstractTpl< Scalar > | Base |
typedef pinocchio::ForceTpl< Scalar > | Force |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::Matrix3s | Matrix3s |
typedef MathBase::Matrix6xs | Matrix6xs |
typedef MathBase::MatrixXs | MatrixXs |
typedef pinocchio::MotionTpl< Scalar > | Motion |
typedef pinocchio::SE3Tpl< Scalar > | SE3 |
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typedef ForceDataAbstractTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef pinocchio::SE3Tpl< Scalar > | SE3 |
typedef MathBase::VectorXs | VectorXs |
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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> | |
ImpulseData6DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) | |
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template<template< typename Scalar > class Model> | |
ImpulseDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) | |
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template<template< typename Scalar > class Model> | |
ForceDataAbstractTpl (Model< Scalar > *const model, PinocchioData *const data) | |
Public Attributes | |
MatrixXs | dv0_dq |
Matrix6xs | dv0_local_dq |
Force | f_local |
Matrix6xs | fJf |
MatrixXs | fJf_df |
Matrix3s | fv_skew |
Matrix3s | fw_skew |
SE3::ActionMatrixType | fXj |
SE3 | lwaMl |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Motion | v0 |
Matrix6xs | v_partial_dq |
Matrix6xs | v_partial_dv |
Matrix3s | vv_skew |
Matrix3s | vv_world_skew |
Matrix3s | vw_skew |
Matrix3s | vw_world_skew |
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MatrixXs | dtau_dq |
MatrixXs | dv0_dq |
SE3::ActionMatrixType | fXj |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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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. | |
Definition at line 107 of file impulse-6d.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 110 of file impulse-6d.hpp.
typedef ImpulseDataAbstractTpl<Scalar> Base |
Definition at line 111 of file impulse-6d.hpp.
typedef MathBase::Matrix3s Matrix3s |
Definition at line 112 of file impulse-6d.hpp.
typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 113 of file impulse-6d.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 114 of file impulse-6d.hpp.
typedef pinocchio::SE3Tpl<Scalar> SE3 |
Definition at line 115 of file impulse-6d.hpp.
typedef pinocchio::MotionTpl<Scalar> Motion |
Definition at line 116 of file impulse-6d.hpp.
typedef pinocchio::ForceTpl<Scalar> Force |
Definition at line 117 of file impulse-6d.hpp.
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inline |
Definition at line 120 of file impulse-6d.hpp.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 109 of file impulse-6d.hpp.
SE3 lwaMl |
Definition at line 157 of file impulse-6d.hpp.
Motion v0 |
Definition at line 158 of file impulse-6d.hpp.
Force f_local |
Definition at line 159 of file impulse-6d.hpp.
Matrix6xs dv0_local_dq |
Definition at line 160 of file impulse-6d.hpp.
Matrix6xs fJf |
Definition at line 161 of file impulse-6d.hpp.
Matrix6xs v_partial_dq |
Definition at line 162 of file impulse-6d.hpp.
Matrix6xs v_partial_dv |
Definition at line 163 of file impulse-6d.hpp.
Matrix3s vv_skew |
Definition at line 164 of file impulse-6d.hpp.
Matrix3s vw_skew |
Definition at line 165 of file impulse-6d.hpp.
Matrix3s vv_world_skew |
Definition at line 166 of file impulse-6d.hpp.
Matrix3s vw_world_skew |
Definition at line 167 of file impulse-6d.hpp.
Matrix3s fv_skew |
Definition at line 168 of file impulse-6d.hpp.
Matrix3s fw_skew |
Definition at line 169 of file impulse-6d.hpp.
MatrixXs fJf_df |
Definition at line 170 of file impulse-6d.hpp.
MatrixXs dv0_dq |
Definition at line 142 of file impulse-base.hpp.
SE3::ActionMatrixType fXj |
Definition at line 141 of file impulse-base.hpp.