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. More...

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.

Constructor & Destructor Documentation

◆ ImpulseDataMultipleTpl()

ImpulseDataMultipleTpl	(	Model< Scalar > *const	model,
		pinocchio::DataTpl< Scalar > *const	data
	)

inline

Initialized a multi-impulse data.

Parameters

[in]	model	Multi-impulse model
[in]	data	Pinocchio data

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

Member Data Documentation

◆ Jc

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

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

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

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.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/multibody/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/multibody/impulses/multiple-impulses.hpp

Public Types

Public Member Functions

Public Attributes