ForceDataAbstractTpl< _Scalar > Struct Template Reference

Inheritance diagram for ForceDataAbstractTpl< _Scalar >:

Public Types
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
template<template< typename Scalar > class Model>
	ForceDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)

Public Attributes
MatrixXs	df_du
	Jacobian of the contact forces.
MatrixXs	df_dx
	Jacobian of the contact forces.
pinocchio::ForceTpl< Scalar >	f
pinocchio::FrameIndex	frame
	Frame index of the contact frame.
MatrixXs	Jc
	Contact Jacobian.
pinocchio::SE3Tpl< Scalar >	jMf
	Local frame placement of the contact frame.
pinocchio::DataTpl< Scalar > *	pinocchio
	Pinocchio data.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

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

Definition at line 21 of file force-base.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 file:

• include/crocoddyl/multibody/force-base.hpp