Public Types
typedef ImpulseDataAbstractTpl< Scalar >	ImpulseDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nc_

boost::shared_ptr< StateMultibody >	state_

Friends
template<class Scalar >
DEPRECATED("Use get_nc().", std::size_t get_ni() const ;) std friend std::ostream &	operator<< (std::ostream &os, const ImpulseModelAbstractTpl< Scalar > &model)
	Print information on the impulse model.

Detailed Description

Definition at line 261 of file fwd.hpp.

Member Function Documentation

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

virtual

Print relevant information of the impulse model.

Parameters

[out] os Output stream object

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