crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactModelAbstractTpl< _Scalar > Class Template Referenceabstract
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 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< ContactDataAbstractcreateData (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


Protected Attributes

pinocchio::FrameIndex id_
 Reference frame id of the contact.
std::size_t nc_
std::size_t nu_
boost::shared_ptr< StateMultibodystate_


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 20 of file contact-base.hpp.

Member Function Documentation

◆ print()

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

Print relevant information of the contact model.

[out]osOutput stream object

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

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