Template Struct ContactDataAbstractTpl

Defined in File contact-base.hpp

Inheritance Relationships

Base Type

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

Derived Types

public crocoddyl::ContactData1DTpl< _Scalar > (Template Struct ContactData1DTpl)
public crocoddyl::ContactData2DTpl< _Scalar > (Template Struct ContactData2DTpl)
public crocoddyl::ContactData3DTpl< _Scalar > (Template Struct ContactData3DTpl)
public crocoddyl::ContactData6DTpl< _Scalar > (Template Struct ContactData6DTpl)
public crocoddyl::ContactDataNumDiffTpl< _Scalar > (Template Struct ContactDataNumDiffTpl)

Struct Documentation

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

Subclassed by crocoddyl::ContactData1DTpl< _Scalar >, crocoddyl::ContactData2DTpl< _Scalar >, crocoddyl::ContactData3DTpl< _Scalar >, crocoddyl::ContactData6DTpl< _Scalar >, crocoddyl::ContactDataNumDiffTpl< _Scalar >

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ForceDataAbstractTpl<Scalar> Base

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

typedef pinocchio::SE3Tpl<Scalar> SE3

Public Functions

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

virtual ~ContactDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

SE3::ActionMatrixType fXj

VectorXs a0

MatrixXs da0_dx

MatrixXs dtau_dq

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.

MatrixXs Jc: Contact Jacobian.

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

PinocchioData *pinocchio: Pinocchio data.