|
| ImpulseModelAbstractTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nc) |
|
virtual void | calc (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
|
virtual void | calcDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0 |
|
virtual boost::shared_ptr< ImpulseDataAbstract > | createData (pinocchio::DataTpl< Scalar > *const data) |
|
std::size_t | get_nc () const |
|
const boost::shared_ptr< StateMultibody > & | get_state () const |
|
virtual void | print (std::ostream &os) const |
| Print relevant information of the impulse model. More...
|
|
void | setZeroForce (const boost::shared_ptr< ImpulseDataAbstract > &data) const |
|
void | setZeroForceDiff (const boost::shared_ptr< ImpulseDataAbstract > &data) const |
|
virtual void | updateForce (const boost::shared_ptr< ImpulseDataAbstract > &data, const VectorXs &force)=0 |
|
void | updateForceDiff (const boost::shared_ptr< ImpulseDataAbstract > &data, const MatrixXs &df_dx) const |
|
template<typename _Scalar>
class crocoddyl::ImpulseModelAbstractTpl< _Scalar >
Definition at line 261 of file fwd.hpp.