crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ImpulseDataAbstractTpl< _Scalar > Struct Template Reference

Public Types

typedef ForceDataAbstractTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

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

Public Attributes

MatrixXs df_dx
 Jacobian of the contact forces.
 
MatrixXs dv0_dq
 
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.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ImpulseDataAbstractTpl< _Scalar >

Definition at line 263 of file fwd.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 files: