|
|
typedef ForceDataAbstractTpl< Scalar > | Base |
| |
|
typedef MathBaseTpl< Scalar > | MathBase |
| |
|
typedef MathBase::MatrixXs | MatrixXs |
| |
|
typedef pinocchio::SE3Tpl< Scalar > | SE3 |
| |
|
typedef MathBase::VectorXs | VectorXs |
| |
|
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 |
| |
|
|
template<template< typename Scalar > class Model> |
| | ImpulseDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) |
| |
|
template<template< typename Scalar > class Model> |
| | ForceDataAbstractTpl (Model< Scalar > *const model, PinocchioData *const data) |
| |
|
| MatrixXs | df_dx |
| |
|
MatrixXs | dtau_dq |
| |
|
MatrixXs | dv0_dq |
| |
|
Force | f |
| | Contact force expressed in the coordinate defined by type.
|
| |
|
pinocchio::FrameIndex | frame |
| | Frame index of the contact frame.
|
| |
|
SE3::ActionMatrixType | fXj |
| |
|
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 |
| |
| 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.
|
| |
template<typename _Scalar>
struct crocoddyl::ImpulseDataAbstractTpl< _Scalar >
Definition at line 105 of file impulse-base.hpp.
◆ df_dx
Jacobian of the contact forces expressed in the coordinate defined by type
Definition at line 56 of file force-base.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/impulse-base.hpp
Public Types inherited from ForceDataAbstractTpl< _Scalar >
1.9.1