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| ContactModel1DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const pinocchio::ReferenceFrame type, const Matrix3s &rotation, const std::size_t nu, const Vector2s &gains=Vector2s::Zero()) |
| Initialize the 1d contact model. More...
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| ContactModel1DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const pinocchio::ReferenceFrame type, const Vector2s &gains=Vector2s::Zero()) |
| Initialize the 1d contact model. More...
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this assumes is | ContactModel1DTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const Vector2s &gains=Vector2s::Zero()) |
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virtual void | calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| Compute the 1d contact Jacobian and drift. More...
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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...
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virtual boost::shared_ptr< ContactDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
| Create the 1d contact data.
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| DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModel1DTpl(boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Scalar xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero());) DEPRECATED("Use const ructor that passes the type type of contact |
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const Matrix3s & | get_axis_rotation () const |
| Return the rotation of the reference frames's z axis.
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const Vector2s & | get_gains () const |
| Create the 1d contact data.
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const Scalar | get_reference () const |
| Return the reference frame translation.
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virtual void | print (std::ostream &os) const |
| Print relevant information of the 1d contact model. More...
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void | set_axis_rotation (const Matrix3s &rotation) |
| Modify the rotation of the reference frames's z axis.
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void | set_reference (const Scalar reference) |
| Modify the reference frame translation.
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virtual void | updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force) |
| Convert the force into a stack of spatial forces. More...
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| ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc) |
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| ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc, const std::size_t nu) |
| Initialize the contact abstraction. More...
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this assumes is | ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc) |
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| DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModelAbstractTpl(boost::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 |
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pinocchio::FrameIndex | get_id () const |
| Return the reference frame id.
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std::size_t | get_nc () const |
| Return the dimension of the contact.
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std::size_t | get_nu () const |
| Return the dimension of the control vector.
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const boost::shared_ptr< StateMultibody > & | get_state () const |
| Return the state.
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pinocchio::ReferenceFrame | get_type () const |
| Return the type of contact.
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void | set_id (const pinocchio::FrameIndex id) |
| Modify the reference frame id.
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void | set_type (const pinocchio::ReferenceFrame type) |
| Modify the type of contact.
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void | setZeroForce (const boost::shared_ptr< ContactDataAbstract > &data) const |
| Set the stack of spatial forces to zero. More...
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void | setZeroForceDiff (const boost::shared_ptr< ContactDataAbstract > &data) const |
| Set the stack of spatial forces Jacobians to zero. More...
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void | updateForceDiff (const boost::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const |
| Convert the force into a stack of spatial forces. More...
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template<typename _Scalar>
class crocoddyl::ContactModel1DTpl< _Scalar >
Definition at line 25 of file contact-1d.hpp.