Crocoddyl
 
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Public Types | Public Member Functions | Public Attributes | List of all members
ImpulseData6DTpl< _Scalar > Struct Template Reference
Inheritance diagram for ImpulseData6DTpl< _Scalar >:
ImpulseDataAbstractTpl< _Scalar > ForceDataAbstractTpl< _Scalar >

Public Types

typedef ImpulseDataAbstractTpl< Scalar > Base
 
typedef pinocchio::ForceTpl< Scalar > Force
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix3s Matrix3s
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef MathBase::MatrixXs MatrixXs
 
typedef pinocchio::MotionTpl< Scalar > Motion
 
typedef pinocchio::SE3Tpl< Scalar > SE3
 
- Public Types inherited from ImpulseDataAbstractTpl< _Scalar >
typedef ForceDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef pinocchio::SE3Tpl< Scalar > SE3
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ForceDataAbstractTpl< _Scalar >
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>
 ImpulseData6DTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ImpulseDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ImpulseDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 
- Public Member Functions inherited from ForceDataAbstractTpl< _Scalar >
template<template< typename Scalar > class Model>
 ForceDataAbstractTpl (Model< Scalar > *const model, PinocchioData *const data)
 

Public Attributes

MatrixXs dv0_dq
 
Matrix6xs dv0_local_dq
 
Force f_local
 
Matrix6xs fJf
 
MatrixXs fJf_df
 
Matrix3s fv_skew
 
Matrix3s fw_skew
 
SE3::ActionMatrixType fXj
 
SE3 lwaMl
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
Motion v0
 
Matrix6xs v_partial_dq
 
Matrix6xs v_partial_dv
 
Matrix3s vv_skew
 
Matrix3s vv_world_skew
 
Matrix3s vw_skew
 
Matrix3s vw_world_skew
 
- Public Attributes inherited from ImpulseDataAbstractTpl< _Scalar >
MatrixXs dtau_dq
 
MatrixXs dv0_dq
 
SE3::ActionMatrixType fXj
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ForceDataAbstractTpl< _Scalar >
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::ImpulseData6DTpl< _Scalar >

Definition at line 97 of file impulse-6d.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 100 of file impulse-6d.hpp.

◆ Base

template<typename _Scalar >
typedef ImpulseDataAbstractTpl<Scalar> Base

Definition at line 101 of file impulse-6d.hpp.

◆ Matrix3s

template<typename _Scalar >
typedef MathBase::Matrix3s Matrix3s

Definition at line 102 of file impulse-6d.hpp.

◆ Matrix6xs

template<typename _Scalar >
typedef MathBase::Matrix6xs Matrix6xs

Definition at line 103 of file impulse-6d.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 104 of file impulse-6d.hpp.

◆ SE3

template<typename _Scalar >
typedef pinocchio::SE3Tpl<Scalar> SE3

Definition at line 105 of file impulse-6d.hpp.

◆ Motion

template<typename _Scalar >
typedef pinocchio::MotionTpl<Scalar> Motion

Definition at line 106 of file impulse-6d.hpp.

◆ Force

template<typename _Scalar >
typedef pinocchio::ForceTpl<Scalar> Force

Definition at line 107 of file impulse-6d.hpp.

Constructor & Destructor Documentation

◆ ImpulseData6DTpl()

template<typename _Scalar >
template<template< typename Scalar > class Model>
ImpulseData6DTpl ( Model< Scalar > *const  model,
pinocchio::DataTpl< Scalar > *const  data 
)
inline

Definition at line 110 of file impulse-6d.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 99 of file impulse-6d.hpp.

◆ lwaMl

template<typename _Scalar >
SE3 lwaMl

Definition at line 146 of file impulse-6d.hpp.

◆ v0

template<typename _Scalar >
Motion v0

Definition at line 147 of file impulse-6d.hpp.

◆ f_local

template<typename _Scalar >
Force f_local

Definition at line 148 of file impulse-6d.hpp.

◆ dv0_local_dq

template<typename _Scalar >
Matrix6xs dv0_local_dq

Definition at line 149 of file impulse-6d.hpp.

◆ fJf

template<typename _Scalar >
Matrix6xs fJf

Definition at line 150 of file impulse-6d.hpp.

◆ v_partial_dq

template<typename _Scalar >
Matrix6xs v_partial_dq

Definition at line 151 of file impulse-6d.hpp.

◆ v_partial_dv

template<typename _Scalar >
Matrix6xs v_partial_dv

Definition at line 152 of file impulse-6d.hpp.

◆ vv_skew

template<typename _Scalar >
Matrix3s vv_skew

Definition at line 153 of file impulse-6d.hpp.

◆ vw_skew

template<typename _Scalar >
Matrix3s vw_skew

Definition at line 154 of file impulse-6d.hpp.

◆ vv_world_skew

template<typename _Scalar >
Matrix3s vv_world_skew

Definition at line 155 of file impulse-6d.hpp.

◆ vw_world_skew

template<typename _Scalar >
Matrix3s vw_world_skew

Definition at line 156 of file impulse-6d.hpp.

◆ fv_skew

template<typename _Scalar >
Matrix3s fv_skew

Definition at line 157 of file impulse-6d.hpp.

◆ fw_skew

template<typename _Scalar >
Matrix3s fw_skew

Definition at line 158 of file impulse-6d.hpp.

◆ fJf_df

template<typename _Scalar >
MatrixXs fJf_df

Definition at line 159 of file impulse-6d.hpp.

◆ dv0_dq

template<typename _Scalar >
MatrixXs dv0_dq

Definition at line 134 of file impulse-base.hpp.

◆ fXj

template<typename _Scalar >
SE3::ActionMatrixType fXj

Definition at line 133 of file impulse-base.hpp.

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