Crocoddyl
ContactData6DTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactData6DTpl< _Scalar >:
ContactDataAbstractTpl< _Scalar > ForceDataAbstractTpl< _Scalar >

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
 
typedef pinocchio::ForceTpl< Scalar > Force
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix3s Matrix3s
 
typedef MathBase::Matrix6s Matrix6s
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef MathBase::MatrixXs MatrixXs
 
typedef pinocchio::MotionTpl< Scalar > Motion
 
typedef pinocchio::SE3Tpl< Scalar > SE3
 
- Public Types inherited from ContactDataAbstractTpl< _Scalar >
typedef ForceDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef pinocchio::SE3Tpl< Scalar > SE3
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ForceDataAbstractTpl< _Scalar >
typedef pinocchio::ForceTpl< Scalar > Force
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef pinocchio::DataTpl< Scalar > PinocchioData
 
typedef pinocchio::SE3Tpl< Scalar > SE3
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ContactData6DTpl (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, PinocchioData *const data)
 

Public Attributes

Motion a0_local
 
Matrix6xs a_partial_da
 
Matrix6xs a_partial_dq
 
Matrix6xs a_partial_dv
 
Matrix3s av_skew
 
Matrix3s av_world_skew
 
Matrix3s aw_skew
 
Matrix3s aw_world_skew
 
Matrix6xs da0_local_dx
 
MatrixXs df_du
 
MatrixXs df_dx
 
Force f
 Contact force expressed in the coordinate defined by type.
 
Force f_local
 
MatrixXs fJf
 
MatrixXs fJf_df
 
pinocchio::FrameIndex frame
 Frame index of the contact frame.
 
Matrix3s fv_skew
 
Matrix3s fw_skew
 
MatrixXs Jc
 Contact Jacobian.
 
SE3 jMf
 Local frame placement of the contact frame.
 
SE3 lwaMl
 
PinocchioData * pinocchio
 Pinocchio data.
 
SE3 rMf
 
Matrix6s rMf_Jlog6
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
Motion v
 
Matrix6xs v_partial_dq
 
- Public Attributes inherited from ContactDataAbstractTpl< _Scalar >
VectorXs a0
 
MatrixXs da0_dx
 
MatrixXs df_du
 
MatrixXs df_dx
 
MatrixXs dtau_dq
 
Force f
 Contact force expressed in the coordinate defined by type.
 
pinocchio::FrameIndex frame
 Frame index of the contact frame.
 
SE3::ActionMatrixType fXj
 
MatrixXs Jc
 Contact Jacobian.
 
SE3 jMf
 Local frame placement of the contact frame.
 
PinocchioData * pinocchio
 Pinocchio data.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ForceDataAbstractTpl< _Scalar >
MatrixXs df_du
 
MatrixXs df_dx
 
Force f
 Contact force expressed in the coordinate defined by type.
 
Force fext
 External spatial force at the parent joint level.
 
pinocchio::FrameIndex frame
 Frame index of the contact frame.
 
MatrixXs Jc
 Contact Jacobian.
 
SE3 jMf
 Local frame placement of the contact frame.
 
PinocchioData * pinocchio
 Pinocchio data.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
pinocchio::ReferenceFrame type
 Type of contact.
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ContactData6DTpl< _Scalar >

Definition at line 164 of file contact-6d.hpp.

Member Data Documentation

◆ df_du

MatrixXs df_du

Jacobian of the contact forces expressed in the coordinate defined by type

Definition at line 58 of file force-base.hpp.

◆ df_dx

MatrixXs df_dx

Jacobian of the contact forces expressed in the coordinate defined by type

Definition at line 56 of file force-base.hpp.


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