ContactModel1DTpl< _Scalar > Class Template Reference

Inheritance diagram for ContactModel1DTpl< _Scalar >:

Collaboration diagram for ContactModel1DTpl< _Scalar >:

Public Types
typedef ContactModelAbstractTpl< Scalar >	Base
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract
typedef ContactData1DTpl< 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
	ContactModel1DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
	Initialize the 1d contact model. More...
	ContactModel1DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const Vector2s &gains=Vector2s::Zero())
	Initialize the 1d contact model. More...
virtual void	calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the 1d contact Jacobian and drift. More...
virtual void	calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the 1d contact holonomic constraint. More...
virtual boost::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create the 1d contact data.
const Vector2s &	get_gains () const
	Create the 1d contact data.
const Scalar	get_reference () const
	Return the reference frame translation.
virtual void	print (std::ostream &os) const
	Print relevant information of the 1d contact model. More...
void	set_reference (const Scalar reference)
	Modify the reference frame translation.
virtual void	updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)
	Convert the force into a stack of spatial forces. More...
Public Member Functions inherited from ContactModelAbstractTpl< _Scalar >
	ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc)
	ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu)
pinocchio::FrameIndex	get_id () const
	Return the reference frame id.
std::size_t	get_nc () const
std::size_t	get_nu () const
const boost::shared_ptr< StateMultibody > &	get_state () const
void	set_id (const pinocchio::FrameIndex id)
	Modify the reference frame id.
void	setZeroForce (const boost::shared_ptr< ContactDataAbstract > &data) const
void	setZeroForceDiff (const boost::shared_ptr< ContactDataAbstract > &data) const
void	updateForceDiff (const boost::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const

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_
boost::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_
boost::shared_ptr< StateMultibody >	state_

Detailed Description

template<typename _Scalar>
class crocoddyl::ContactModel1DTpl< _Scalar >

Definition at line 26 of file contact-1d.hpp.

Constructor & Destructor Documentation

ContactModel1DTpl() [1/2]

ContactModel1DTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Scalar	xref,
		const std::size_t	nu,
		const Vector2s &	gains = Vector2s::Zero()
	)

Initialize the 1d contact model.

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]	nu	Dimension of the control vector
[in]	gains	Baumgarte stabilization gains

ContactModel1DTpl() [2/2]

ContactModel1DTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Scalar	xref,
		const Vector2s &	gains = Vector2s::Zero()
	)

Initialize the 1d contact model.

The default nu is obtained from StateAbstractTpl::get_nv().

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]	gains	Baumgarte stabilization gains

Member Function Documentation

calc()

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

virtual

Compute the 1d contact Jacobian and drift.

Parameters

[in]	data	1d 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 boost::shared_ptr< ContactDataAbstract > &  data, const Eigen::Ref< const VectorXs > &  x  )

virtual

Compute the derivatives of the 1d contact holonomic constraint.

Parameters

[in]	data	1d 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 boost::shared_ptr< ContactDataAbstract > &  data, const VectorXs &  force  )

virtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	1d contact data
[in]	force	1d force

Implements ContactModelAbstractTpl< _Scalar >.

print()

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

virtual

Print relevant information of the 1d contact model.

Parameters

[out]

os

Output stream object

Reimplemented from ContactModelAbstractTpl< _Scalar >.

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

• include/crocoddyl/multibody/contacts/contact-1d.hpp