ContactModelAbstractTpl< _Scalar > Class Template Reference

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 (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. More...
this assumes is	ContactModelAbstractTpl (std::shared_ptr< StateMultibody > state, const std::size_t nc)
virtual void	calc (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
	Compute the contact Jacobian and acceleration drift. More...
virtual void	calcDiff (const std::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
	Compute the derivatives of the acceleration-based contact. More...
virtual std::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(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.
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 std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces to zero. More...
void	setZeroForceDiff (const std::shared_ptr< ContactDataAbstract > &data) const
	Set the stack of spatial forces Jacobians to zero. More...
virtual void	updateForce (const std::shared_ptr< ContactDataAbstract > &data, const VectorXs &force)=0
	Convert the force into a stack of spatial forces. More...
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. 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_
std::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	(	std::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 std::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 std::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 std::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 std::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 std::shared_ptr< ContactDataAbstract > &

data

)

const

Set the stack of spatial forces to zero.

Parameters

[in]

data

Contact data

setZeroForceDiff()

void setZeroForceDiff

(

const std::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 >.

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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