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< Base >	data_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.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
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.

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

• include/crocoddyl/multibody/fwd.hpp
• include/crocoddyl/multibody/numdiff/contact.hpp