Template Struct ContactData2DTpl

Defined in File contact-2d.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ContactData2DTpl : public crocoddyl::ContactDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ContactDataAbstractTpl<Scalar> Base

typedef MathBase::Matrix2s Matrix2s

typedef MathBase::Matrix3s Matrix3s

typedef MathBase::Matrix6xs Matrix6xs

typedef MathBase::Vector3s Vector3s

Public Functions

template<template<typename Scalar> class Model> inline ContactData2DTpl(Model<Scalar> *const model, pinocchio::DataTpl<Scalar> *const data)

virtual ~ContactData2DTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

pinocchio::MotionTpl<Scalar> v

pinocchio::MotionTpl<Scalar> a

Matrix6xs fJf

Matrix6xs v_partial_dq

Matrix6xs a_partial_dq

Matrix6xs a_partial_dv

Matrix6xs a_partial_da

Matrix6xs fXjdv_dq

Matrix6xs fXjda_dq

Matrix6xs fXjda_dv

Vector3s vv

Vector3s vw

Matrix3s vv_skew

Matrix3s vw_skew

Matrix2s oRf

VectorXs a0

MatrixXs da0_dx

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

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

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

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

SE3::ActionMatrixType fXj

MatrixXs Jc: Contact Jacobian.

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

PinocchioData *pinocchio: Pinocchio data.