Template Struct ContactDataAbstractTpl

• Defined in File contact-base.hpp

Inheritance Relationships

Base Type

• public crocoddyl::ForceDataAbstractTpl< _Scalar > (Template Struct ForceDataAbstractTpl)

Derived Types

• public crocoddyl::ContactData1DTpl< _Scalar > (Template Struct ContactData1DTpl)

• public crocoddyl::ContactData2DTpl< _Scalar > (Template Struct ContactData2DTpl)

• public crocoddyl::ContactData3DTpl< _Scalar > (Template Struct ContactData3DTpl)

• public crocoddyl::ContactData6DTpl< _Scalar > (Template Struct ContactData6DTpl)

• public crocoddyl::ContactDataNumDiffTpl< _Scalar > (Template Struct ContactDataNumDiffTpl)

Struct Documentation

template<typename _Scalar>
struct ContactDataAbstractTpl : public crocoddyl::ForceDataAbstractTpl<_Scalar>

Subclassed by crocoddyl::ContactData1DTpl< _Scalar >, crocoddyl::ContactData2DTpl< _Scalar >, crocoddyl::ContactData3DTpl< _Scalar >, crocoddyl::ContactData6DTpl< _Scalar >, crocoddyl::ContactDataNumDiffTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ForceDataAbstractTpl<Scalar> Base

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

typedef pinocchio::SE3Tpl<Scalar> SE3

Public Functions

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

virtual ~ContactDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

SE3::ActionMatrixType fXj

VectorXs a0

MatrixXs da0_dx

MatrixXs dtau_dq