Template Struct ImpulseDataMultipleTpl

• Defined in File multiple-impulses.hpp

Struct Documentation

template<typename _Scalar>
struct ImpulseDataMultipleTpl

Define the multi-impulse data.

See also

ImpulseModelMultipleTpl

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ImpulseModelMultipleTpl<Scalar> ImpulseModelMultiple

typedef ImpulseItemTpl<Scalar> ImpulseItem

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

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

Initialized a multi-impulse data.

Parameters:

• model – [in] Multi-impulse model

• data – [in] Pinocchio data

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

MatrixXs Jc

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

MatrixXs dv0_dq

Jacobian of the desired spatial contact acceleration in frame coordinate \(\frac{\partial\underline{\mathbf{v}}_0}{\partial\mathbf{q}}\in\mathbb{R}^{ni_{total}\times{nv}}\) (memory defined for active and inactive impulse)

VectorXs vnext

Constrained system velocity after impact in generalized coordinates \(\dot{\mathbf{v}'}\in\mathbb{R}^{nv}\)

MatrixXs dvnext_dx

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

ImpulseModelMultiple::ImpulseDataContainer impulses

Stack of impulse data.

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

External spatial forces in body coordinates.