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. More...

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 296 of file multiple-contacts.hpp.

Constructor & Destructor Documentation

◆ ContactDataMultipleTpl()

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

inline

Initialized a multi-contact data.

Parameters

[in]	model	Multi-contact model
[in]	data	Pinocchio data

Definition at line 313 of file multiple-contacts.hpp.

Member Data Documentation

◆ Jc

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 336 of file multiple-contacts.hpp.

◆ a0

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 339 of file multiple-contacts.hpp.

◆ da0_dx

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 343 of file multiple-contacts.hpp.

◆ dv

VectorXs dv

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

Definition at line 347 of file multiple-contacts.hpp.

◆ ddv_dx

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 350 of file multiple-contacts.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/contacts/multiple-contacts.hpp

Public Types

Public Member Functions

Public Attributes