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typedef pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > >::iterator | ForceIterator |
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typedef ImpulseDataAbstractTpl< Scalar > | ImpulseDataAbstract |
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typedef std::map< std::string, boost::shared_ptr< ImpulseDataAbstract > > | ImpulseDataContainer |
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typedef ImpulseDataMultipleTpl< Scalar > | ImpulseDataMultiple |
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typedef ImpulseItemTpl< Scalar > | ImpulseItem |
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typedef ImpulseModelAbstractTpl< Scalar > | ImpulseModelAbstract |
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typedef std::map< std::string, boost::shared_ptr< ImpulseItem > > | ImpulseModelContainer |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef StateMultibodyTpl< Scalar > | StateMultibody |
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typedef MathBase::Vector2s | Vector2s |
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typedef MathBase::Vector3s | Vector3s |
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typedef MathBase::VectorXs | VectorXs |
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| ImpulseModelMultipleTpl (boost::shared_ptr< StateMultibody > state) |
| Initialize the multi-impulse model. More...
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void | addImpulse (const std::string &name, boost::shared_ptr< ImpulseModelAbstract > impulse, const bool active=true) |
| Add impulse item. More...
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void | calc (const boost::shared_ptr< ImpulseDataMultiple > &data, const Eigen::Ref< const VectorXs > &x) |
| Compute the total contact Jacobian and contact acceleration. More...
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void | calcDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const Eigen::Ref< const VectorXs > &x) |
| Compute the derivatives of the contact holonomic constraint. More...
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void | changeImpulseStatus (const std::string &name, const bool active) |
| Change the impulse status. More...
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boost::shared_ptr< ImpulseDataMultiple > | createData (pinocchio::DataTpl< Scalar > *const data) |
| Create the multi-impulse data. More...
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| DEPRECATED ("get_active() is deprecated and will be replaced with get_active_set()", const std::vector< std::string > &get_active() { active_.clear();active_.reserve(active_set_.size());for(const auto &contact :active_set_) { active_.push_back(contact);} return active_;};) DEPRECATED("get_inactive() is deprecated and will be replaced with get_inactive_set()" |
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const ImpulseModelContainer & | get_impulses () const |
| Return the impulse models.
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const std::vector< std::string > & | get_inactive () |
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DEPRECATED("Use get_nc().", std::size_t get_ni() const ;) std const DEPRECATED("Use get_nc_total().", std::size_t get_ni_total() const ;) const std std::set< std::string > & | get_inactive_set () const |
| Return the dimension of all impulses. More...
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std::size_t | get_nc () const |
| Return the dimension of active impulses.
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const boost::shared_ptr< StateMultibody > & | get_state () const |
| Return the multibody state.
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bool | getImpulseStatus (const std::string &name) const |
| Return the status of a given impulse name.
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void | removeImpulse (const std::string &name) |
| Remove impulse item. More...
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void | updateForce (const boost::shared_ptr< ImpulseDataMultiple > &data, const VectorXs &impulse) |
| Update the spatial impulse defined in frame coordinate. More...
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void | updateForceDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const MatrixXs &df_dx) const |
| Update the Jacobian of the spatial impulse defined in frame coordinate. More...
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void | updateVelocity (const boost::shared_ptr< ImpulseDataMultiple > &data, const VectorXs &vnext) const |
| Update the system velocity after impulse. More...
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void | updateVelocityDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const MatrixXs &dvnext_dx) const |
| Update the Jacobian of the system velocity after impulse. More...
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template<typename _Scalar>
class crocoddyl::ImpulseModelMultipleTpl< _Scalar >
Define a stack of impulse models.
The impulse models can be defined with active and inactive status. The idea behind this design choice is to be able to create a mechanism that allocates the entire data needed for the computations. Then, there are designed routines that update the only active impulse.
Definition at line 343 of file fwd.hpp.