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template<template< typename Scalar > class Model> |
| ContactDataNumDiffTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) |
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VectorXs | a0 |
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MatrixXs | da0_dx |
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boost::shared_ptr< Base > | data_0 |
| The data at the approximation point.
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std::vector< boost::shared_ptr< Base > > | data_x |
| The temporary data associated with the state variation.
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VectorXs | dx |
| State disturbance.
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pinocchio::ForceTpl< Scalar > | f |
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pinocchio::DataTpl< Scalar > * | pinocchio |
| Pinocchio data.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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VectorXs | xp |
| The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".
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template<typename _Scalar>
struct crocoddyl::ContactDataNumDiffTpl< _Scalar >
Definition at line 63 of file fwd.hpp.
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: