Template Struct ContactDataMultipleTpl

• Defined in File multiple-contacts.hpp

Struct Documentation

template<typename _Scalar>
struct ContactDataMultipleTpl

Define the multi-contact data.

See also

ContactModelMultipleTpl

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

typedef ContactItemTpl<Scalar> ContactItem

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

Initialized a multi-contact data.

Parameters:

• model – [in] Multi-contact model

• data – [in] Pinocchio data

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

MatrixXs Jc

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

VectorXs a0

Desired spatial contact acceleration in frame coordinate \(\underline{\mathbf{a}}_0\in\mathbb{R}^{nc_{total}}\) (memory defined for active and inactive contacts)

MatrixXs da0_dx

Jacobian of the desired spatial contact acceleration in frame coordinate \(\frac{\partial\underline{\mathbf{a}}_0}{\partial\mathbf{x}}\in\mathbb{R}^{nc_{total}\times{ndx}}\) (memory defined for active and inactive contacts)

VectorXs dv

Constrained system acceleration in generalized coordinates \(\dot{\mathbf{v}}\in\mathbb{R}^{nv}\)

MatrixXs ddv_dx

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

ContactModelMultiple::ContactDataContainer contacts

Stack of contact data.

pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar>> fext

External spatial forces in body coordinates.