ContactModelNumDiffTpl< _Scalar > Class Template Reference

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 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)
void	calcDiff (const boost::shared_ptr< ContactDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
boost::shared_ptr< ContactDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create a Data object. More...
const Scalar	get_disturbance () const
	Get the disturbance_ object. More...
const boost::shared_ptr< Base > &	get_model () const
	Get the model_ object. More...
void	set_disturbance (const Scalar disturbance)
	Set the disturbance_ object. More...
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)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
Scalar	disturbance_
	Numerical disturbance used in the numerical differentiation.
boost::shared_ptr< Base >	model_
	Model of the Contact.
std::size_t	nc_
std::size_t	nu_
std::vector< ReevaluationFunction >	reevals_
	Functions that needs execution before calc or calcDiff.
boost::shared_ptr< StateMultibody >	state_

Detailed Description

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

Definition at line 61 of file fwd.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
	)

calcDiff()

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

updateForce()

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

createData()

boost::shared_ptr<ContactDataAbstract> createData

(

pinocchio::DataTpl< Scalar > *const

data

)

Create a Data object.

Parameters

data	is the Pinocchio data

Returns

boost::shared_ptr<ContactModelAbstract>

get_model()

const boost::shared_ptr<Base>& get_model

(

)

const

Get the model_ object.

Returns

ContactModelAbstract&

get_disturbance()

const Scalar get_disturbance

(

)

const

Get the disturbance_ object.

Returns

Scalar

set_disturbance()

void set_disturbance

(

const Scalar

disturbance

)

Set the disturbance_ object.

Parameters

disturbance

is the value used to find the numerical derivative

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.

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

• include/crocoddyl/multibody/fwd.hpp
• include/crocoddyl/multibody/numdiff/contact.hpp