ImpulseModel6DTpl< _Scalar > Class Template Reference

Inheritance diagram for ImpulseModel6DTpl< _Scalar >:

Public Types
typedef ImpulseModelAbstractTpl< Scalar >	Base
typedef ImpulseData6DTpl< Scalar >	Data
typedef ImpulseDataAbstractTpl< Scalar >	ImpulseDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3s	Matrix3s
typedef MathBase::MatrixXs	MatrixXs
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::Vector2s	Vector2s
typedef MathBase::Vector3s	Vector3s
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ImpulseModelAbstractTpl< _Scalar >
typedef ImpulseDataAbstractTpl< Scalar >	ImpulseDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ImpulseModel6DTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const pinocchio::ReferenceFrame type=pinocchio::ReferenceFrame::LOCAL)
	Initialize the 6d impulse model. More...
virtual void	calc (const std::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the 3d impulse Jacobian. More...
virtual void	calcDiff (const std::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the 3d impulse holonomic constraint. More...
virtual std::shared_ptr< ImpulseDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create the 3d impulse data.
virtual void	print (std::ostream &os) const
	Print relevant information of the 6d impulse model. More...
virtual void	updateForce (const std::shared_ptr< ImpulseDataAbstract > &data, const VectorXs &force)
	Convert the force into a stack of spatial forces. More...
Public Member Functions inherited from ImpulseModelAbstractTpl< _Scalar >
	ImpulseModelAbstractTpl (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc)
	DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ImpulseModelAbstractTpl(std::shared_ptr< StateMultibody > state, const std::size_t nc);) virtual ~ImpulseModelAbstractTpl()
DEPRECATED("Use get_nc().", std::size_t get_ni() const ;) std pinocchio::FrameIndex	get_id () const
	Return the reference frame id.
std::size_t	get_nc () const
const std::shared_ptr< StateMultibody > &	get_state () const
pinocchio::ReferenceFrame	get_type () const
	Return the type of contact.
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< ImpulseDataAbstract > &data) const
void	setZeroForceDiff (const std::shared_ptr< ImpulseDataAbstract > &data) const
void	updateForceDiff (const std::shared_ptr< ImpulseDataAbstract > &data, const MatrixXs &df_dx) const

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

Protected Attributes
pinocchio::FrameIndex	id_
	Reference frame id of the contact.
std::shared_ptr< StateMultibody >	state_
pinocchio::ReferenceFrame	type_
	Type of contact.
Protected Attributes inherited from ImpulseModelAbstractTpl< _Scalar >
pinocchio::FrameIndex	id_
	Reference frame id of the contact.
std::size_t	nc_
std::shared_ptr< StateMultibody >	state_
pinocchio::ReferenceFrame	type_
	Type of contact.

Detailed Description

template<typename _Scalar>
class crocoddyl::ImpulseModel6DTpl< _Scalar >

Definition at line 22 of file impulse-6d.hpp.

Constructor & Destructor Documentation

ImpulseModel6DTpl()

ImpulseModel6DTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const pinocchio::ReferenceFrame	type = pinocchio::ReferenceFrame::LOCAL
	)

Initialize the 6d impulse model.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id of the impulse
[in]	type	Type of impulse (default LOCAL)

Member Function Documentation

calc()

virtual void calc ( const std::shared_ptr< ImpulseDataAbstract > &  data, const Eigen::Ref< const VectorXs > &  x  )

virtual

Compute the 3d impulse Jacobian.

Parameters

[in]	data	3d impulse data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Implements ImpulseModelAbstractTpl< _Scalar >.

calcDiff()

virtual void calcDiff ( const std::shared_ptr< ImpulseDataAbstract > &  data, const Eigen::Ref< const VectorXs > &  x  )

virtual

Compute the derivatives of the 3d impulse holonomic constraint.

Parameters

[in]	data	3d impulse data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Implements ImpulseModelAbstractTpl< _Scalar >.

updateForce()

virtual void updateForce ( const std::shared_ptr< ImpulseDataAbstract > &  data, const VectorXs &  force  )

virtual

Convert the force into a stack of spatial forces.

Parameters

[in]	data	3d impulse data
[in]	force	3d impulse

Implements ImpulseModelAbstractTpl< _Scalar >.

print()

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

virtual

Print relevant information of the 6d impulse model.

Parameters

[out]

os

Output stream object

Reimplemented from ImpulseModelAbstractTpl< _Scalar >.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/fwd.hpp
• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/impulses/impulse-6d.hpp