crocoddyl  1.9.0
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ImpulseModelAbstractTpl< _Scalar > Class Template Referenceabstract

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< ImpulseDataAbstractcreateData (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


Protected Attributes

std::size_t nc_
boost::shared_ptr< StateMultibodystate_


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

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

Definition at line 261 of file fwd.hpp.

Member Function Documentation

◆ print()

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

Print relevant information of the impulse model.

[out]osOutput stream object

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