crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
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.

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.

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