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typedef ForceDataAbstractTpl< Scalar > | Base |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef pinocchio::SE3Tpl< Scalar > | SE3 |
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typedef MathBase::VectorXs | VectorXs |
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typedef pinocchio::ForceTpl< Scalar > | Force |
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typedef MathBaseTpl< Scalar > | MathBase |
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typedef MathBase::MatrixXs | MatrixXs |
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typedef pinocchio::DataTpl< Scalar > | PinocchioData |
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typedef pinocchio::SE3Tpl< Scalar > | SE3 |
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typedef MathBase::VectorXs | VectorXs |
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template<template< typename Scalar > class Model> |
| | ImpulseDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) |
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template<template< typename Scalar > class Model> |
| | ForceDataAbstractTpl (Model< Scalar > *const model, PinocchioData *const data) |
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| MatrixXs | df_dx |
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MatrixXs | dtau_dq |
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MatrixXs | dv0_dq |
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Force | f |
| | Contact force expressed in the coordinate defined by type.
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pinocchio::FrameIndex | frame |
| | Frame index of the contact frame.
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SE3::ActionMatrixType | fXj |
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MatrixXs | Jc |
| | Contact Jacobian.
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SE3 | jMf |
| | Local frame placement of the contact frame.
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PinocchioData * | pinocchio |
| | Pinocchio data.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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| MatrixXs | df_du |
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| MatrixXs | df_dx |
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Force | f |
| | Contact force expressed in the coordinate defined by type.
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Force | fext |
| | External spatial force at the parent joint level.
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pinocchio::FrameIndex | frame |
| | Frame index of the contact frame.
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MatrixXs | Jc |
| | Contact Jacobian.
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SE3 | jMf |
| | Local frame placement of the contact frame.
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PinocchioData * | pinocchio |
| | Pinocchio data.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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pinocchio::ReferenceFrame | type |
| | Type of contact.
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template<typename _Scalar>
struct crocoddyl::ImpulseDataAbstractTpl< _Scalar >
Definition at line 106 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