Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
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
 
Force f_local
 
MatrixXs fJf
 
MatrixXs fJf_df
 
Matrix3s fv_skew
 
Matrix3s fw_skew
 
SE3 lwaMl
 
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 dtau_dq
 
SE3::ActionMatrixType fXj
 
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 Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 168 of file contact-6d.hpp.

◆ Base

template<typename _Scalar >
typedef ContactDataAbstractTpl<Scalar> Base

Definition at line 169 of file contact-6d.hpp.

◆ Matrix3s

template<typename _Scalar >
typedef MathBase::Matrix3s Matrix3s

Definition at line 170 of file contact-6d.hpp.

◆ Matrix6xs

template<typename _Scalar >
typedef MathBase::Matrix6xs Matrix6xs

Definition at line 171 of file contact-6d.hpp.

◆ Matrix6s

template<typename _Scalar >
typedef MathBase::Matrix6s Matrix6s

Definition at line 172 of file contact-6d.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 173 of file contact-6d.hpp.

◆ SE3

template<typename _Scalar >
typedef pinocchio::SE3Tpl<Scalar> SE3

Definition at line 174 of file contact-6d.hpp.

◆ Motion

template<typename _Scalar >
typedef pinocchio::MotionTpl<Scalar> Motion

Definition at line 175 of file contact-6d.hpp.

◆ Force

template<typename _Scalar >
typedef pinocchio::ForceTpl<Scalar> Force

Definition at line 176 of file contact-6d.hpp.

Constructor & Destructor Documentation

◆ ContactData6DTpl()

template<typename _Scalar >
template<template< typename Scalar > class Model>
ContactData6DTpl ( Model< Scalar > *const  model,
pinocchio::DataTpl< Scalar > *const  data 
)
inline

Definition at line 179 of file contact-6d.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 167 of file contact-6d.hpp.

◆ rMf

template<typename _Scalar >
SE3 rMf

Definition at line 224 of file contact-6d.hpp.

◆ lwaMl

template<typename _Scalar >
SE3 lwaMl

Definition at line 225 of file contact-6d.hpp.

◆ v

template<typename _Scalar >
Motion v

Definition at line 226 of file contact-6d.hpp.

◆ a0_local

template<typename _Scalar >
Motion a0_local

Definition at line 227 of file contact-6d.hpp.

◆ f_local

template<typename _Scalar >
Force f_local

Definition at line 228 of file contact-6d.hpp.

◆ da0_local_dx

template<typename _Scalar >
Matrix6xs da0_local_dx

Definition at line 229 of file contact-6d.hpp.

◆ fJf

template<typename _Scalar >
MatrixXs fJf

Definition at line 230 of file contact-6d.hpp.

◆ v_partial_dq

template<typename _Scalar >
Matrix6xs v_partial_dq

Definition at line 231 of file contact-6d.hpp.

◆ a_partial_dq

template<typename _Scalar >
Matrix6xs a_partial_dq

Definition at line 232 of file contact-6d.hpp.

◆ a_partial_dv

template<typename _Scalar >
Matrix6xs a_partial_dv

Definition at line 233 of file contact-6d.hpp.

◆ a_partial_da

template<typename _Scalar >
Matrix6xs a_partial_da

Definition at line 234 of file contact-6d.hpp.

◆ av_world_skew

template<typename _Scalar >
Matrix3s av_world_skew

Definition at line 235 of file contact-6d.hpp.

◆ aw_world_skew

template<typename _Scalar >
Matrix3s aw_world_skew

Definition at line 236 of file contact-6d.hpp.

◆ av_skew

template<typename _Scalar >
Matrix3s av_skew

Definition at line 237 of file contact-6d.hpp.

◆ aw_skew

template<typename _Scalar >
Matrix3s aw_skew

Definition at line 238 of file contact-6d.hpp.

◆ fv_skew

template<typename _Scalar >
Matrix3s fv_skew

Definition at line 239 of file contact-6d.hpp.

◆ fw_skew

template<typename _Scalar >
Matrix3s fw_skew

Definition at line 240 of file contact-6d.hpp.

◆ rMf_Jlog6

template<typename _Scalar >
Matrix6s rMf_Jlog6

Definition at line 241 of file contact-6d.hpp.

◆ fJf_df

template<typename _Scalar >
MatrixXs fJf_df

Definition at line 242 of file contact-6d.hpp.

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