crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ContactDataNumDiffTpl< _Scalar > Struct Template Reference
Collaboration diagram for ContactDataNumDiffTpl< _Scalar >:

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
typedef MathBaseTpl< Scalar > MathBase
typedef MathBaseTpl< Scalar >::VectorXs VectorXs

Public Member Functions

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

Public Attributes

VectorXs a0
MatrixXs da0_dx
boost::shared_ptr< Basedata_0
 The data at the approximation point.
std::vector< boost::shared_ptr< Base > > data_x
 The temporary data associated with the state variation.
VectorXs dx
 State disturbance.
pinocchio::ForceTpl< Scalar > f
pinocchio::DataTpl< Scalar > * pinocchio
 Pinocchio data.
VectorXs xp
 The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".

Detailed Description

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

Definition at line 63 of file fwd.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.

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