Template Struct ImpulseData3DTpl

Defined in File impulse-3d.hpp

Inheritance Relationships

Base Type

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

Struct Documentation

template<typename _Scalar> struct ImpulseData3DTpl : public crocoddyl::ImpulseDataAbstractTpl<_Scalar>

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ImpulseDataAbstractTpl<Scalar> Base

typedef MathBase::Vector3s Vector3s

typedef MathBase::Matrix3s Matrix3s

typedef MathBase::Matrix3xs Matrix3xs

typedef MathBase::Matrix6xs Matrix6xs

typedef pinocchio::ForceTpl<Scalar> Force

Public Functions

template<template<typename Scalar> class Model> inline ImpulseData3DTpl(Model<Scalar> *const model, pinocchio::DataTpl<Scalar> *const data)

virtual ~ImpulseData3DTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Vector3s v0

Force f_local

Matrix3xs dv0_local_dq

Matrix6xs fJf

Matrix6xs v_partial_dq

Matrix6xs v_partial_dv

Matrix3s v0_skew

Matrix3s v0_world_skew

Matrix3s f_skew

Matrix3xs fJf_df

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

MatrixXs dv0_dq

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.