ContactDataAbstractTpl< _Scalar > Struct Template Reference

Inheritance diagram for ContactDataAbstractTpl< _Scalar >:

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	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::ContactDataAbstractTpl< _Scalar >

Definition at line 178 of file contact-base.hpp.

Member Typedef Documentation

MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 182 of file contact-base.hpp.

Base

template<typename _Scalar >

typedef ForceDataAbstractTpl<Scalar> Base

Definition at line 183 of file contact-base.hpp.

VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 184 of file contact-base.hpp.

MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 185 of file contact-base.hpp.

SE3

template<typename _Scalar >

typedef pinocchio::SE3Tpl<Scalar> SE3

Definition at line 186 of file contact-base.hpp.

Constructor & Destructor Documentation

ContactDataAbstractTpl()

template<typename _Scalar >

template<template< typename Scalar > class Model>

ContactDataAbstractTpl ( Model< Scalar > *const  model, pinocchio::DataTpl< Scalar > *const  data  )

inline

Definition at line 189 of file contact-base.hpp.

~ContactDataAbstractTpl()

template<typename _Scalar >

virtual ~ContactDataAbstractTpl ( )

inlinevirtual

Definition at line 200 of file contact-base.hpp.

Member Data Documentation

Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 181 of file contact-base.hpp.

fXj

template<typename _Scalar >

SE3::ActionMatrixType fXj

Definition at line 210 of file contact-base.hpp.

a0

template<typename _Scalar >

VectorXs a0

Definition at line 211 of file contact-base.hpp.

da0_dx

template<typename _Scalar >

MatrixXs da0_dx

Definition at line 212 of file contact-base.hpp.

dtau_dq

template<typename _Scalar >

MatrixXs dtau_dq

Definition at line 213 of file contact-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/contact-base.hpp