crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactData2DTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactData2DTpl< _Scalar >:
Collaboration diagram for ContactData2DTpl< _Scalar >:

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix2s Matrix2s
 
typedef MathBase::Matrix3s Matrix3s
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef MathBase::Vector3s Vector3s
 
- Public Types inherited from ContactDataAbstractTpl< _Scalar >
typedef ForceDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ForceDataAbstractTpl< _Scalar >
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ContactData2DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ContactDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ContactDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ForceDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ForceDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 

Public Attributes

pinocchio::MotionTpl< Scalar > a
 
Matrix6xs a_partial_da
 
Matrix6xs a_partial_dq
 
Matrix6xs a_partial_dv
 
MatrixXs df_du
 Jacobian of the contact forces.
 
MatrixXs df_dx
 Jacobian of the contact forces.
 
pinocchio::ForceTpl< Scalar > f
 
Matrix6xs fJf
 
pinocchio::FrameIndex frame
 Frame index of the contact frame.
 
Matrix6xs fXjda_dq
 
Matrix6xs fXjda_dv
 
Matrix6xs fXjdv_dq
 
MatrixXs Jc
 Contact Jacobian.
 
pinocchio::SE3Tpl< Scalar > jMf
 Local frame placement of the contact frame.
 
Matrix2s oRf
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
pinocchio::MotionTpl< Scalar > v
 
Matrix6xs v_partial_dq
 
Vector3s vv
 
Matrix3s vv_skew
 
Vector3s vw
 
Matrix3s vw_skew
 
- Public Attributes inherited from ContactDataAbstractTpl< _Scalar >
VectorXs a0
 
MatrixXs da0_dx
 
MatrixXs df_du
 Jacobian of the contact forces.
 
MatrixXs df_dx
 Jacobian of the contact forces.
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::FrameIndex frame
 Frame index of the contact frame.
 
pinocchio::SE3Tpl< Scalar >::ActionMatrixType fXj
 
MatrixXs Jc
 Contact Jacobian.
 
pinocchio::SE3Tpl< Scalar > jMf
 Local frame placement of the contact frame.
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ForceDataAbstractTpl< _Scalar >
MatrixXs df_du
 Jacobian of the contact forces.
 
MatrixXs df_dx
 Jacobian of the contact forces.
 
pinocchio::ForceTpl< Scalar > f
 
pinocchio::FrameIndex frame
 Frame index of the contact frame.
 
MatrixXs Jc
 Contact Jacobian.
 
pinocchio::SE3Tpl< Scalar > jMf
 Local frame placement of the contact frame.
 
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ContactData2DTpl< _Scalar >

Definition at line 141 of file contact-2d.hpp.

Member Data Documentation

◆ f

pinocchio::ForceTpl<Scalar> f

External spatial force at the parent joint level. Note that we could compute the force at the contact frame by using jMf (i.e. data.jMf.actInv(data.f)

Definition at line 48 of file force-base.hpp.


The documentation for this struct was generated from the following file: