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template<template< typename Scalar > class Model> |
| ImpulseDataAbstractTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data) |
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MatrixXs | df_dx |
| Jacobian of the contact forces.
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MatrixXs | dv0_dq |
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pinocchio::ForceTpl< Scalar > | f |
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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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pinocchio::SE3Tpl< Scalar > | jMf |
| Local frame placement of the contact frame.
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pinocchio::DataTpl< Scalar > * | pinocchio |
| Pinocchio data.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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template<typename _Scalar>
struct crocoddyl::ImpulseDataAbstractTpl< _Scalar >
Definition at line 263 of file fwd.hpp.
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 files: