Template Struct ImpulseData6DTpl

Defined in File impulse-6d.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ImpulseData6DTpl : public crocoddyl::ImpulseDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ImpulseDataAbstractTpl<Scalar> Base

typedef MathBase::Matrix3s Matrix3s

typedef MathBase::Matrix6xs Matrix6xs

typedef MathBase::MatrixXs MatrixXs

typedef pinocchio::SE3Tpl<Scalar> SE3

typedef pinocchio::MotionTpl<Scalar> Motion

typedef pinocchio::ForceTpl<Scalar> Force

Public Functions

template<template<typename Scalar> class Model> inline ImpulseData6DTpl(Model<Scalar> *const model, pinocchio::DataTpl<Scalar> *const data)

virtual ~ImpulseData6DTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

SE3 lwaMl

Motion v0

Force f_local

Matrix6xs dv0_local_dq

Matrix6xs fJf

Matrix6xs v_partial_dq

Matrix6xs v_partial_dv

Matrix3s vv_skew

Matrix3s vw_skew

Matrix3s vv_world_skew

Matrix3s vw_world_skew

Matrix3s fv_skew

Matrix3s fw_skew

MatrixXs fJf_df

MatrixXs dv0_dq

SE3::ActionMatrixType fXj