ContactData6DTpl< _Scalar > Struct Template Reference

Inheritance diagram for ContactData6DTpl< _Scalar >:

Collaboration diagram for ContactData6DTpl< _Scalar >:

Public Types
typedef ContactDataAbstractTpl< Scalar >	Base
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix6s	Matrix6s
typedef MathBase::Matrix6xs	Matrix6xs
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>
	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, 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
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.
pinocchio::SE3Tpl< Scalar >	rMf
Matrix6s	rMf_Jlog6
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
pinocchio::MotionTpl< Scalar >	v
Matrix6xs	v_partial_dq
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::ContactData6DTpl< _Scalar >

Definition at line 137 of file contact-6d.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.

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

• include/crocoddyl/multibody/contacts/contact-6d.hpp