Inheritance diagram for ContactModelAbstractTpl< _Scalar >:

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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 std::size_t nc)

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

virtual void	calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0

virtual void	calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0

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

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

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

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

virtual void	updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)=0

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

Protected Attributes
pinocchio::FrameIndex	id_
	Reference frame id of the contact.

std::size_t	nc_

std::size_t	nu_

boost::shared_ptr< StateMultibody >	state_

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

Detailed Description

Definition at line 20 of file contact-base.hpp.

Member Function Documentation

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

virtual

Print relevant information of the contact model.

Parameters

[out] os Output stream object

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