ImpulseModelAbstractTpl< _Scalar > Class Template Reference

Inheritance diagram for ImpulseModelAbstractTpl< _Scalar >:

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 (std::shared_ptr< StateMultibody > state, const pinocchio::ReferenceFrame type, const std::size_t nc)
virtual void	calc (const std::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
virtual void	calcDiff (const std::shared_ptr< ImpulseDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)=0
virtual std::shared_ptr< ImpulseDataAbstract >	createData (pinocchio::DataTpl< Scalar > *const data)
	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.
virtual void	print (std::ostream &os) const
	Print relevant information of the impulse 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 std::shared_ptr< ImpulseDataAbstract > &data) const
void	setZeroForceDiff (const std::shared_ptr< ImpulseDataAbstract > &data) const
virtual void	updateForce (const std::shared_ptr< ImpulseDataAbstract > &data, const VectorXs &force)=0
void	updateForceDiff (const std::shared_ptr< ImpulseDataAbstract > &data, const MatrixXs &df_dx) const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

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

Friends
template<class Scalar >
std::ostream &	operator<< (std::ostream &os, const ImpulseModelAbstractTpl< Scalar > &model)
	Print information on the impulse model.

Detailed Description

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

Definition at line 21 of file impulse-base.hpp.

Member Function Documentation

print()

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

virtual

Print relevant information of the impulse model.

Parameters

[out]

os

Output stream object

Reimplemented in ImpulseModel6DTpl< _Scalar >, and ImpulseModel3DTpl< _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/impulse-base.hpp