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.

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: