Inheritance diagram for ContactModelAbstractTpl< _Scalar >:

Public Types
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

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

	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...

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

virtual void	calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
	Compute the contact Jacobian and acceleration drift. More...

virtual void	calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
	Compute the derivatives of the acceleration-based contact. More...

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

	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

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

pinocchio::ReferenceFrame	get_type () const
	Return the type of contact.

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

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

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

virtual void	updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)=0
	Convert the force into a stack of spatial forces. More...

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...

Public Attributes
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_

pinocchio::ReferenceFrame	type_
	Type of contact.

Friends
template<class Scalar >
std::ostream &	operator<< (std::ostream &os, const ContactModelAbstractTpl< Scalar > &model)
	Print information on the contact model.

Detailed Description

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

Definition at line 24 of file contact-base.hpp.

Constructor & Destructor Documentation

◆ ContactModelAbstractTpl()

ContactModelAbstractTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::ReferenceFrame	type,
		const std::size_t	nc,
		const std::size_t	nu
	)

Initialize the contact abstraction.

Parameters

[in]	state	State of the multibody system
[in]	type	Type of contact
[in]	nc	Dimension of the contact model
[in]	nu	Dimension of the control vector

Member Function Documentation

◆ calc()

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

pure virtual

Compute the contact Jacobian and acceleration drift.

Parameters

[in]	data	Contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implemented in ContactModelNumDiffTpl< _Scalar >, ContactModel6DTpl< _Scalar >, ContactModel3DTpl< _Scalar >, ContactModel2DTpl< _Scalar >, and ContactModel1DTpl< _Scalar >.

◆ calcDiff()

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

pure virtual

Compute the derivatives of the acceleration-based contact.

Parameters

[in]	data	Contact data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implemented in ContactModelNumDiffTpl< _Scalar >, ContactModel6DTpl< _Scalar >, ContactModel3DTpl< _Scalar >, ContactModel2DTpl< _Scalar >, and ContactModel1DTpl< _Scalar >.

◆ updateForce()

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

pure virtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	Contact data
[in]	force	Contact force

Implemented in ContactModelNumDiffTpl< _Scalar >, ContactModel6DTpl< _Scalar >, ContactModel3DTpl< _Scalar >, ContactModel2DTpl< _Scalar >, and ContactModel1DTpl< _Scalar >.

◆ updateForceDiff()

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.

Parameters

[in]	data	Contact data
[in]	force	Contact force

◆ setZeroForce()

void setZeroForce ( const boost::shared_ptr< ContactDataAbstract > & data ) const

Set the stack of spatial forces to zero.

Parameters

[in] data Contact data

◆ setZeroForceDiff()

void setZeroForceDiff ( const boost::shared_ptr< ContactDataAbstract > & data ) const

Set the stack of spatial forces Jacobians to zero.

Parameters

[in] data Contact data

◆ print()

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

virtual

Print relevant information of the contact model.

Parameters

[out] os Output stream object

Reimplemented in ContactModel6DTpl< _Scalar >, ContactModel3DTpl< _Scalar >, ContactModel2DTpl< _Scalar >, and ContactModel1DTpl< _Scalar >.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/contact-base.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

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

Constructor & Destructor Documentation

◆ ContactModelAbstractTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ updateForceDiff()

◆ setZeroForce()

◆ setZeroForceDiff()

◆ print()

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