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Public Types | Public Member Functions | Public Attributes | Protected Attributes | Friends | List of all members
ImpulseModelAbstractTpl< _Scalar > Class Template Referenceabstract
Inheritance diagram for ImpulseModelAbstractTpl< _Scalar >:
ImpulseModel3DTpl< _Scalar > ImpulseModel6DTpl< _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.
 
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 Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 26 of file impulse-base.hpp.

◆ ImpulseDataAbstract

template<typename _Scalar >
typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract

Definition at line 27 of file impulse-base.hpp.

◆ StateMultibody

template<typename _Scalar >
typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 28 of file impulse-base.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 29 of file impulse-base.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 30 of file impulse-base.hpp.

Member Function Documentation

◆ calc()

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

Implemented in ImpulseModel3DTpl< _Scalar >, and ImpulseModel6DTpl< _Scalar >.

◆ calcDiff()

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

Implemented in ImpulseModel3DTpl< _Scalar >, and ImpulseModel6DTpl< _Scalar >.

◆ updateForce()

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

Implemented in ImpulseModel3DTpl< _Scalar >, and ImpulseModel6DTpl< _Scalar >.

◆ createData()

template<typename _Scalar >
virtual std::shared_ptr< ImpulseDataAbstract > createData ( pinocchio::DataTpl< Scalar > *const  data)
virtual

Reimplemented in ImpulseModel3DTpl< _Scalar >, and ImpulseModel6DTpl< _Scalar >.

◆ print()

template<typename _Scalar >
virtual void print ( std::ostream &  os) const
virtual

Print relevant information of the impulse model.

Parameters
[out]osOutput stream object

Reimplemented in ImpulseModel3DTpl< _Scalar >, and ImpulseModel6DTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 25 of file impulse-base.hpp.

◆ state_

template<typename _Scalar >
std::shared_ptr<StateMultibody> state_
protected

Definition at line 98 of file impulse-base.hpp.

◆ nc_

template<typename _Scalar >
std::size_t nc_
protected

Definition at line 99 of file impulse-base.hpp.

◆ id_

template<typename _Scalar >
pinocchio::FrameIndex id_
protected

Reference frame id of the contact.

Definition at line 100 of file impulse-base.hpp.

◆ type_

template<typename _Scalar >
pinocchio::ReferenceFrame type_
protected

Type of contact.

Definition at line 101 of file impulse-base.hpp.

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