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Public Types | Public Member Functions | Public Attributes | List of all members
ContactDataMultipleTpl< _Scalar > Struct Template Reference

Define the multi-contact data. More...

#include <multiple-contacts.hpp>

Public Types

typedef ContactItemTpl< Scalar > ContactItem
 
typedef ContactModelMultipleTpl< Scalar > ContactModelMultiple
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ContactDataMultipleTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 Initialized a multi-contact data.
 

Public Attributes

VectorXs a0
 
ContactModelMultiple::ContactDataContainer contacts
 Stack of contact data.
 
MatrixXs da0_dx
 
MatrixXs ddv_dx
 
VectorXs dv
 
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
 External spatial forces in body coordinates.
 
MatrixXs Jc
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ContactDataMultipleTpl< _Scalar >

Define the multi-contact data.

See also
ContactModelMultipleTpl

Definition at line 295 of file multiple-contacts.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 299 of file multiple-contacts.hpp.

◆ ContactModelMultiple

template<typename _Scalar >
typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Definition at line 300 of file multiple-contacts.hpp.

◆ ContactItem

template<typename _Scalar >
typedef ContactItemTpl<Scalar> ContactItem

Definition at line 301 of file multiple-contacts.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 302 of file multiple-contacts.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 303 of file multiple-contacts.hpp.

Constructor & Destructor Documentation

◆ ContactDataMultipleTpl()

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

Initialized a multi-contact data.

Parameters
[in]modelMulti-contact model
[in]dataPinocchio data

Definition at line 312 of file multiple-contacts.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 298 of file multiple-contacts.hpp.

◆ Jc

template<typename _Scalar >
MatrixXs Jc

Contact Jacobian in frame coordinate \(\mathbf{J}_c\in\mathbb{R}^{nc_{total}\times{nv}}\) (memory defined for active and inactive contacts)

Definition at line 335 of file multiple-contacts.hpp.

◆ a0

template<typename _Scalar >
VectorXs a0

Desired spatial contact acceleration in frame coordinate \(\underline{\mathbf{a}}_0\in\mathbb{R}^{nc_{total}}\) (memory defined for active and inactive contacts)

Definition at line 338 of file multiple-contacts.hpp.

◆ da0_dx

template<typename _Scalar >
MatrixXs da0_dx

Jacobian of the desired spatial contact acceleration in frame coordinate \(\frac{\partial\underline{\mathbf{a}}_0}{\partial\mathbf{x}}\in\mathbb{R}^{nc_{total}\times{ndx}}\) (memory defined for active and inactive contacts)

Definition at line 342 of file multiple-contacts.hpp.

◆ dv

template<typename _Scalar >
VectorXs dv

Constrained system acceleration in generalized coordinates \(\dot{\mathbf{v}}\in\mathbb{R}^{nv}\)

Definition at line 346 of file multiple-contacts.hpp.

◆ ddv_dx

template<typename _Scalar >
MatrixXs ddv_dx

Jacobian of the system acceleration in generalized coordinates \(\frac{\partial\dot{\mathbf{v}}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times < ndx}\)

Definition at line 349 of file multiple-contacts.hpp.

◆ contacts

template<typename _Scalar >
ContactModelMultiple::ContactDataContainer contacts

Stack of contact data.

Definition at line 354 of file multiple-contacts.hpp.

◆ fext

template<typename _Scalar >
pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > fext

External spatial forces in body coordinates.

Definition at line 356 of file multiple-contacts.hpp.

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