Inheritance diagram for ContactModelNumDiffTpl< _Scalar >:

Public Types
typedef ContactModelAbstractTpl< Scalar >	Base

typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef ContactDataNumDiffTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef boost::function< void(const VectorXs &, const VectorXs &)>	ReevaluationFunction

typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Types inherited from ContactModelAbstractTpl< _Scalar >
typedef ContactDataAbstractTpl< Scalar >	ContactDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ContactModelNumDiffTpl (const boost::shared_ptr< Base > &model)
	Construct a new ContactModelNumDiff object from a ContactModelAbstract. More...

virtual	~ContactModelNumDiffTpl ()
	Default destructor of the ContactModelNumDiff object.

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

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

boost::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create a Data object. More...

const Scalar	get_disturbance () const
	Return the disturbance constant used in the numerical differentiation routine.

const boost::shared_ptr< Base > &	get_model () const
	Return the acton model that we use to numerical differentiate.

void	set_disturbance (const Scalar disturbance)
	Modify the disturbance constant used in the numerical differentiation routine.

void	set_reevals (const std::vector< ReevaluationFunction > &reevals)
	Register functions that take a pinocchio model, a pinocchio data, a state and a control. The updated data is used to evaluate of the gradient and Hessian. More...

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

Public Member Functions inherited from ContactModelAbstractTpl< _Scalar >
	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)

	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...

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

Public Attributes inherited from ContactModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
Scalar	e_jac_

boost::shared_ptr< Base >	model_
	contact model to differentiate

std::size_t	nc_

std::size_t	nu_

std::vector< ReevaluationFunction >	reevals_
	functions that need execution before calc or calcDiff

boost::shared_ptr< StateMultibody >	state_

Protected Attributes inherited from ContactModelAbstractTpl< _Scalar >
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.

Detailed Description

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

Definition at line 21 of file contact.hpp.

Constructor & Destructor Documentation

◆ ContactModelNumDiffTpl()

ContactModelNumDiffTpl ( const boost::shared_ptr< Base > & model )

explicit

Construct a new ContactModelNumDiff object from a ContactModelAbstract.

Parameters

model

Member Function Documentation

◆ calc()

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

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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ContactModelAbstractTpl< _Scalar >.

◆ calcDiff()

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

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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ContactModelAbstractTpl< _Scalar >.

◆ updateForce()

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

virtual

Convert the force into a stack of spatial forces.

Parameters

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

Implements ContactModelAbstractTpl< _Scalar >.

◆ createData()

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

virtual

Create a Data object.

Parameters

data	is the Pinocchio data

Returns: boost::shared_ptr<ContactModelAbstract>

Reimplemented from ContactModelAbstractTpl< _Scalar >.

◆ set_reevals()

void set_reevals ( const std::vector< ReevaluationFunction > & reevals )

Register functions that take a pinocchio model, a pinocchio data, a state and a control. The updated data is used to evaluate of the gradient and Hessian.

Parameters

reevals are the registered functions.

Member Data Documentation

◆ e_jac_

Scalar e_jac_

protected

Constant used for computing disturbances in Jacobian calculation

Definition at line 106 of file contact.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/multibody/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/multibody/numdiff/contact.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ ContactModelNumDiffTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ updateForce()

◆ createData()

◆ set_reevals()

Member Data Documentation

◆ e_jac_

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