Template Struct ContactData3DTpl

Defined in File contact-3d.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ContactData3DTpl : public crocoddyl::ContactDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ContactDataAbstractTpl<Scalar> Base

typedef MathBase::Vector3s Vector3s

typedef MathBase::Matrix3s Matrix3s

typedef MathBase::Matrix3xs Matrix3xs

typedef MathBase::Matrix6xs Matrix6xs

typedef pinocchio::MotionTpl<Scalar> Motion

typedef pinocchio::ForceTpl<Scalar> Force

Public Functions

template<template<typename Scalar> class Model> inline ContactData3DTpl(Model<Scalar> *const model, pinocchio::DataTpl<Scalar> *const data)

virtual ~ContactData3DTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Motion v

Vector3s a0_local

Vector3s dp

Vector3s dp_local

Force f_local

Matrix3xs da0_local_dx

Matrix6xs fJf

Matrix6xs v_partial_dq

Matrix6xs a_partial_dq

Matrix6xs a_partial_dv

Matrix6xs a_partial_da

Matrix3s vv_skew

Matrix3s vw_skew

Matrix3s a0_skew

Matrix3s a0_world_skew

Matrix3s dp_skew

Matrix3s f_skew

Matrix6xs fXjdv_dq

Matrix6xs fXjda_dq

Matrix6xs fXjda_dv

Matrix3xs fJf_df

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.