Template Class ImpulseModelAbstractTpl

Defined in File impulse-base.hpp

Inheritance Relationships

Base Type

public crocoddyl::ImpulseModelBase (Class ImpulseModelBase)

Derived Types

public crocoddyl::ImpulseModel3DTpl< _Scalar > (Template Class ImpulseModel3DTpl)
public crocoddyl::ImpulseModel6DTpl< _Scalar > (Template Class ImpulseModel6DTpl)

Class Documentation

template<typename _Scalar> class ImpulseModelAbstractTpl : public crocoddyl::ImpulseModelBase 

Subclassed by crocoddyl::ImpulseModel3DTpl< _Scalar >, crocoddyl::ImpulseModel6DTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract

typedef StateMultibodyTpl<Scalar> StateMultibody

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

ImpulseModelAbstractTpl(std::shared_ptr<StateMultibody> state, const pinocchio::ReferenceFrame type, const std::size_t nc)

DEPRECATED ("Use constructor that passes the type type of contact, this assumes is " "pinocchio::LOCAL", ImpulseModelAbstractTpl(std::shared_ptr< StateMultibody > state, const std::size_t nc);) virtual ~ImpulseModelAbstractTpl()=default

virtual void calc(const std::shared_ptr<ImpulseDataAbstract> &data, const Eigen::Ref<const VectorXs> &x) = 0

virtual void calcDiff(const std::shared_ptr<ImpulseDataAbstract> &data, const Eigen::Ref<const VectorXs> &x) = 0

virtual void updateForce(const std::shared_ptr<ImpulseDataAbstract> &data, const VectorXs &force) = 0

void updateForceDiff(const std::shared_ptr<ImpulseDataAbstract> &data, const MatrixXs &df_dx) const

void setZeroForce(const std::shared_ptr<ImpulseDataAbstract> &data) const

void setZeroForceDiff(const std::shared_ptr<ImpulseDataAbstract> &data) const

virtual std::shared_ptr<ImpulseDataAbstract> createData(pinocchio::DataTpl<Scalar> *const data)

const std::shared_ptr<StateMultibody> &get_state() const

std::size_t get_nc() const

DEPRECATED("Use get_nc().", std::size_t get_ni() const ;) std pinocchio::FrameIndex get_id () const: Return the reference frame id.

void set_id(const pinocchio::FrameIndex id): Modify the reference frame id.

void set_type(const pinocchio::ReferenceFrame type): Modify the type of contact.

pinocchio::ReferenceFrame get_type() const: Return the type of contact.

virtual void print(std::ostream &os) const

Print relevant information of the impulse model.

Parameters:: os – [out] Output stream object

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Functions

inline ImpulseModelAbstractTpl()

Protected Attributes

std::shared_ptr<StateMultibody> state_

std::size_t nc_

pinocchio::FrameIndex id_: Reference frame id of the contact.

pinocchio::ReferenceFrame type_: Type of contact.

Friends

template<class Scalar> friend std::ostream &operator<<(std::ostream &os, const ImpulseModelAbstractTpl<Scalar> &model): Print information on the impulse model.