ContactData6DTpl< _Scalar > Struct Template Reference

Inheritance diagram for ContactData6DTpl< _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.

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

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/contacts/contact-6d.hpp