Crocoddyl
ContactDataNumDiffTpl< _Scalar > Struct Template Reference
Inheritance diagram for ContactDataNumDiffTpl< _Scalar >:
ContactDataAbstractTpl< _Scalar > ForceDataAbstractTpl< _Scalar >

Public Types

typedef ContactDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::VectorXs VectorXs
 
- Public Types inherited from ContactDataAbstractTpl< _Scalar >
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>
 ContactDataNumDiffTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ContactDataAbstractTpl< _Scalar >
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

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.
 
Force f
 Contact force expressed in the coordinate defined by type.
 
PinocchioData * pinocchio
 Pinocchio data.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
Scalar x_norm
 Norm of the state vector.
 
Scalar xh_jac
 Disturbance value used for computing \( \ell_\mathbf{x} \).
 
VectorXs xp
 
- Public Attributes inherited from ContactDataAbstractTpl< _Scalar >
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.
 

Detailed Description

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

Definition at line 127 of file contact.hpp.

Member Data Documentation

◆ xp

VectorXs xp

The integrated state from the disturbance on one DoF " \_form#87@_fakenl".

Definition at line 162 of file contact.hpp.


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