Inheritance diagram for ContactModel2DTpl< _Scalar >:

Public Types
typedef ContactModelAbstractTpl< Scalar >	Base

typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef ContactData2DTpl< 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
	ContactModel2DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector2s &xref, const std::size_t nu, const Vector2s &gains=Vector2s::Zero())
	Initialize the 2d contact model.

	ContactModel2DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector2s &xref, const Vector2s &gains=Vector2s::Zero())
	Initialize the 2d contact model.

virtual void	calc (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the 2d contact Jacobian and drift.

virtual void	calcDiff (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the 2d contact holonomic constraint.

virtual std::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create the 2d contact data.

const Vector2s &	get_gains () const
	Create the 2d contact data.

const Vector2s &	get_reference () const
	Return the reference frame translation.

virtual void	print (std::ostream &os) const
	Print relevant information of the 2d contact model.

void	set_reference (const Vector2s &reference)
	Modify the reference frame translation.

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

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

	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc, const std::size_t nu)
	Initialize the contact abstraction.

this assumes is	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const std::size_t nc)

	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ContactModelAbstractTpl(std::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

pinocchio::FrameIndex	get_id () const
	Return the reference frame id.

std::size_t	get_nc () const
	Return the dimension of the contact.

std::size_t	get_nu () const
	Return the dimension of the control vector.

const std::shared_ptr< StateMultibody > &	get_state () const
	Return the state.

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< ContactDataAbstract > &data) const
	Set the stack of spatial forces to zero.

void	setZeroForceDiff (const std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces Jacobians to zero.

void	updateForceDiff (const std::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const
	Convert the force into a stack of spatial forces.

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_

std::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_

std::shared_ptr< StateMultibody >	state_

pinocchio::ReferenceFrame	type_
	Type of contact.

Detailed Description

template<typename _Scalar>
class crocoddyl::ContactModel2DTpl< _Scalar >

Definition at line 24 of file contact-2d.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 29 of file contact-2d.hpp.

◆ Base

template<typename _Scalar >

typedef ContactModelAbstractTpl<Scalar> Base

Definition at line 30 of file contact-2d.hpp.

◆ Data

template<typename _Scalar >

typedef ContactData2DTpl<Scalar> Data

Definition at line 31 of file contact-2d.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 32 of file contact-2d.hpp.

◆ ContactDataAbstract

template<typename _Scalar >

typedef ContactDataAbstractTpl<Scalar> ContactDataAbstract

Definition at line 33 of file contact-2d.hpp.

◆ Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s Vector2s

Definition at line 34 of file contact-2d.hpp.

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s Vector3s

Definition at line 35 of file contact-2d.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 36 of file contact-2d.hpp.

◆ Matrix3s

template<typename _Scalar >

typedef MathBase::Matrix3s Matrix3s

Definition at line 37 of file contact-2d.hpp.

Constructor & Destructor Documentation

◆ ContactModel2DTpl() [1/2]

template<typename _Scalar >

ContactModel2DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Vector2s &	xref,
		const std::size_t	nu,
		const Vector2s &	gains = `Vector2s::Zero()`
	)

Initialize the 2d 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

◆ ContactModel2DTpl() [2/2]

template<typename _Scalar >

ContactModel2DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Vector2s &	xref,
		const Vector2s &	gains = `Vector2s::Zero()`
	)

Initialize the 2d 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()

template<typename _Scalar >

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

virtual

Compute the 2d contact Jacobian and drift.

Parameters

[in]	data	2d 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()

template<typename _Scalar >

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

virtual

Compute the derivatives of the 2d contact holonomic constraint.

Parameters

[in]	data	2d 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()

template<typename _Scalar >

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

virtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	2d contact data
[in]	force	2d force

Implements ContactModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

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

virtual

Create the 2d contact data.

Reimplemented from ContactModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar >

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

virtual

Print relevant information of the 2d contact model.

Parameters

[out] os Output stream object

Reimplemented from ContactModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 28 of file contact-2d.hpp.

◆ id_

template<typename _Scalar >

pinocchio::FrameIndex id_

protected

Reference frame id of the contact.

Definition at line 173 of file contact-base.hpp.

◆ nc_

template<typename _Scalar >

std::size_t nc_

protected

Definition at line 171 of file contact-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Definition at line 172 of file contact-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateMultibody> state_

protected

Definition at line 170 of file contact-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/contacts/contact-2d.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ ContactDataAbstract

◆ Vector2s

◆ Vector3s

◆ VectorXs

◆ Matrix3s

Constructor & Destructor Documentation

◆ ContactModel2DTpl() [1/2]

◆ ContactModel2DTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ id_

◆ nc_

◆ nu_

◆ state_