Public Types | |
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> | |
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 | |
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. | |
Definition at line 179 of file contact-base.hpp.
MatrixXs df_du |
Jacobian of the contact forces expressed in the coordinate defined by type
Definition at line 58 of file force-base.hpp.
MatrixXs df_dx |
Jacobian of the contact forces expressed in the coordinate defined by type
Definition at line 56 of file force-base.hpp.