Crocoddyl
Public Types | Public Member Functions | Public Attributes | List of all members
ForceDataAbstractTpl< _Scalar > Struct Template Reference
Inheritance diagram for ForceDataAbstractTpl< _Scalar >:
ContactDataAbstractTpl< Scalar > ContactDataAbstractTpl< _Scalar > ImpulseDataAbstractTpl< _Scalar > ContactData1DTpl< _Scalar > ContactData2DTpl< _Scalar > ContactData3DTpl< _Scalar > ContactData6DTpl< _Scalar > ContactDataNumDiffTpl< _Scalar > ImpulseData3DTpl< _Scalar > ImpulseData6DTpl< _Scalar >

Public Types

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>
 ForceDataAbstractTpl (Model< Scalar > *const model, PinocchioData *const data)
 

Public Attributes

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::ForceDataAbstractTpl< _Scalar >

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

Member Data Documentation

◆ df_dx

MatrixXs df_dx

Jacobian of the contact forces expressed in the coordinate defined by type

Definition at line 56 of file force-base.hpp.

◆ df_du

MatrixXs df_du

Jacobian of the contact forces expressed in the coordinate defined by type

Definition at line 58 of file force-base.hpp.

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