9 #ifndef CROCODDYL_MULTIBODY_FORCE_BASE_HPP_
10 #define CROCODDYL_MULTIBODY_FORCE_BASE_HPP_
12 #include <pinocchio/multibody/data.hpp>
13 #include <pinocchio/spatial/force.hpp>
15 #include "crocoddyl/core/mathbase.hpp"
16 #include "crocoddyl/multibody/fwd.hpp"
20 template <
typename _Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 typedef _Scalar Scalar;
26 typedef typename MathBase::VectorXs VectorXs;
27 typedef typename MathBase::MatrixXs MatrixXs;
28 typedef typename pinocchio::DataTpl<Scalar> PinocchioData;
29 typedef typename pinocchio::SE3Tpl<Scalar> SE3;
30 typedef typename pinocchio::ForceTpl<Scalar> Force;
32 template <
template <
typename Scalar>
class Model>
36 type(model->get_type()),
38 Jc(model->get_nc(), model->get_state()->get_nv()),
41 df_dx(model->get_nc(), model->get_state()->get_ndx()),
42 df_du(model->get_nc(), model->get_nu()) {
51 pinocchio::ReferenceFrame
type;
Force fext
External spatial force at the parent joint level.
PinocchioData * pinocchio
Pinocchio data.
pinocchio::FrameIndex frame
Frame index of the contact frame.
SE3 jMf
Local frame placement of the contact frame.
pinocchio::ReferenceFrame type
Type of contact.
MatrixXs Jc
Contact Jacobian.
Force f
Contact force expressed in the coordinate defined by type.