Template Struct ForceDataAbstractTpl

Defined in File force-base.hpp

Inheritance Relationships

Derived Types

public crocoddyl::ContactDataAbstractTpl< Scalar > (Template Struct ContactDataAbstractTpl)
public crocoddyl::ContactDataAbstractTpl< _Scalar > (Template Struct ContactDataAbstractTpl)
public crocoddyl::ImpulseDataAbstractTpl< _Scalar > (Template Struct ImpulseDataAbstractTpl)

Struct Documentation

template<typename _Scalar> struct ForceDataAbstractTpl

Subclassed by crocoddyl::ContactDataAbstractTpl< Scalar >, crocoddyl::ContactDataAbstractTpl< _Scalar >, crocoddyl::ImpulseDataAbstractTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

typedef pinocchio::DataTpl<Scalar> PinocchioData

typedef pinocchio::SE3Tpl<Scalar> SE3

typedef pinocchio::ForceTpl<Scalar> Force

Public Functions

template<template<typename Scalar> class Model> inline ForceDataAbstractTpl(Model<Scalar> *const model, PinocchioData *const data)

virtual ~ForceDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

PinocchioData *pinocchio: Pinocchio data.

pinocchio::FrameIndex frame: Frame index of the contact frame.

pinocchio::ReferenceFrame type: Type of contact.

SE3 jMf: Local frame placement of the contact frame.

MatrixXs Jc: Contact Jacobian.

Force f: Contact force expressed in the coordinate defined by type.

Force fext: External spatial force at the parent joint level.

MatrixXs df_dx: Jacobian of the contact forces expressed in the coordinate defined by type

MatrixXs df_du: Jacobian of the contact forces expressed in the coordinate defined by type