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| ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc) |
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| ContactModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc, const std::size_t nu) |
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virtual void | calc (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
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virtual void | calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
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virtual boost::shared_ptr< ContactDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
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pinocchio::FrameIndex | get_id () const |
| Return the reference frame id.
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std::size_t | get_nc () const |
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std::size_t | get_nu () const |
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const boost::shared_ptr< StateMultibody > & | get_state () const |
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virtual void | print (std::ostream &os) const |
| Print relevant information of the contact model. More...
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void | set_id (const pinocchio::FrameIndex id) |
| Modify the reference frame id.
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void | setZeroForce (const boost::shared_ptr< ContactDataAbstract > &data) const |
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void | setZeroForceDiff (const boost::shared_ptr< ContactDataAbstract > &data) const |
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virtual void | updateForce (const boost::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)=0 |
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void | updateForceDiff (const boost::shared_ptr< ContactDataAbstract > &data, const MatrixXs &df_dx, const MatrixXs &df_du) const |
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template<typename _Scalar>
class crocoddyl::ContactModelAbstractTpl< _Scalar >
Definition at line 20 of file contact-base.hpp.