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typedef ContactDataAbstractTpl< Scalar > | Base |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBaseTpl< Scalar >::VectorXs | VectorXs |
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typedef ForceDataAbstractTpl< Scalar > | Base |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef pinocchio::SE3Tpl< Scalar > | SE3 |
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typedef MathBase::VectorXs | VectorXs |
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typedef pinocchio::ForceTpl< Scalar > | Force |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef pinocchio::DataTpl< Scalar > | PinocchioData |
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typedef pinocchio::SE3Tpl< Scalar > | SE3 |
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typedef MathBase::VectorXs | VectorXs |
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template<template< typename Scalar > class Model> |
| | ContactDataNumDiffTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) |
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template<template< typename Scalar > class Model> |
| | ContactDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) |
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template<template< typename Scalar > class Model> |
| | ForceDataAbstractTpl (Model< Scalar > *const model, PinocchioData *const data) |
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std::shared_ptr< Base > | data_0 |
| | The data at the approximation point.
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std::vector< std::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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Force | f |
| | Contact force expressed in the coordinate defined by type.
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PinocchioData * | pinocchio |
| | Pinocchio data.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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Scalar | x_norm |
| | Norm of the state vector.
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Scalar | xh_jac |
| | Disturbance value used for computing \( \ell_\mathbf{x} \).
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| VectorXs | xp |
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VectorXs | a0 |
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MatrixXs | da0_dx |
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| MatrixXs | df_du |
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| MatrixXs | df_dx |
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MatrixXs | dtau_dq |
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Force | f |
| | Contact force expressed in the coordinate defined by type.
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pinocchio::FrameIndex | frame |
| | Frame index of the contact frame.
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SE3::ActionMatrixType | fXj |
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MatrixXs | Jc |
| | Contact Jacobian.
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SE3 | jMf |
| | Local frame placement of the contact frame.
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PinocchioData * | pinocchio |
| | Pinocchio data.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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| MatrixXs | df_du |
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| MatrixXs | df_dx |
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Force | f |
| | Contact force expressed in the coordinate defined by type.
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Force | fext |
| | External spatial force at the parent joint level.
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pinocchio::FrameIndex | frame |
| | Frame index of the contact frame.
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MatrixXs | Jc |
| | Contact Jacobian.
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SE3 | jMf |
| | Local frame placement of the contact frame.
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PinocchioData * | pinocchio |
| | Pinocchio data.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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pinocchio::ReferenceFrame | type |
| | Type of contact.
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template<typename _Scalar>
struct crocoddyl::ContactDataNumDiffTpl< _Scalar >
Definition at line 127 of file contact.hpp.
◆ xp
The integrated state from the disturbance on one DoF " \_form#91@_fakenl".
Definition at line 162 of file contact.hpp.
The documentation for this struct was generated from the following files:
- /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/fwd.hpp
- /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/numdiff/contact.hpp
Public Types inherited from ContactDataAbstractTpl< _Scalar >
1.9.1