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Public Types | Public Member Functions | Public Attributes | List of all members
ImpulseDataMultipleTpl< _Scalar > Struct Template Reference

Define the multi-impulse data. More...

#include <multiple-impulses.hpp>

Public Types

typedef ImpulseItemTpl< Scalar > ImpulseItem
 
typedef ImpulseModelMultipleTpl< Scalar > ImpulseModelMultiple
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

template<template< typename Scalar > class Model>
 ImpulseDataMultipleTpl (Model< Scalar > *const model, pinocchio::DataTpl< Scalar > *const data)
 Initialized a multi-impulse data.
 

Public Attributes

MatrixXs dv0_dq
 
MatrixXs dvnext_dx
 
pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > > fext
 External spatial forces in body coordinates.
 
ImpulseModelMultiple::ImpulseDataContainer impulses
 Stack of impulse data.
 
MatrixXs Jc
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
VectorXs vnext
 

Detailed Description

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

Define the multi-impulse data.

See also
ImpulseModelMultipleTpl

Definition at line 260 of file multiple-impulses.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 264 of file multiple-impulses.hpp.

◆ ImpulseModelMultiple

template<typename _Scalar >
typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple

Definition at line 265 of file multiple-impulses.hpp.

◆ ImpulseItem

template<typename _Scalar >
typedef ImpulseItemTpl<Scalar> ImpulseItem

Definition at line 266 of file multiple-impulses.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 267 of file multiple-impulses.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 268 of file multiple-impulses.hpp.

Constructor & Destructor Documentation

◆ ImpulseDataMultipleTpl()

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

Initialized a multi-impulse data.

Parameters
[in]modelMulti-impulse model
[in]dataPinocchio data

Definition at line 277 of file multiple-impulses.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 263 of file multiple-impulses.hpp.

◆ Jc

template<typename _Scalar >
MatrixXs Jc

Contact Jacobian in frame coordinate \(\mathbf{J}_c\in\mathbb{R}^{ni_{total}\times{nv}}\) (memory defined for active and inactive impulses)

Definition at line 298 of file multiple-impulses.hpp.

◆ dv0_dq

template<typename _Scalar >
MatrixXs dv0_dq

Jacobian of the desired spatial contact acceleration in frame coordinate \(\frac{\partial\underline{\mathbf{v}}_0}{\partial\mathbf{q}}\in\mathbb{R}^{ni_{total}\times{nv}}\) (memory defined for active and inactive impulse)

Definition at line 302 of file multiple-impulses.hpp.

◆ vnext

template<typename _Scalar >
VectorXs vnext

Constrained system velocity after impact in generalized coordinates \(\dot{\mathbf{v}'}\in\mathbb{R}^{nv}\)

Definition at line 306 of file multiple-impulses.hpp.

◆ dvnext_dx

template<typename _Scalar >
MatrixXs dvnext_dx

Jacobian of the system velocity after impact in generalized coordinates \(\frac{\partial\dot{\mathbf{v}'}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times < ndx}\)

Definition at line 309 of file multiple-impulses.hpp.

◆ impulses

template<typename _Scalar >
ImpulseModelMultiple::ImpulseDataContainer impulses

Stack of impulse data.

Definition at line 314 of file multiple-impulses.hpp.

◆ fext

template<typename _Scalar >
pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > fext

External spatial forces in body coordinates.

Definition at line 316 of file multiple-impulses.hpp.

The documentation for this struct was generated from the following files: