Template Struct ImpulseDataAbstractTpl

• Defined in File impulse-base.hpp

Inheritance Relationships

Base Type

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

Derived Types

• public crocoddyl::ImpulseData3DTpl< _Scalar > (Template Struct ImpulseData3DTpl)

• public crocoddyl::ImpulseData6DTpl< _Scalar > (Template Struct ImpulseData6DTpl)

Struct Documentation

template<typename _Scalar>
struct ImpulseDataAbstractTpl : public crocoddyl::ForceDataAbstractTpl<_Scalar>

Subclassed by crocoddyl::ImpulseData3DTpl< _Scalar >, crocoddyl::ImpulseData6DTpl< _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 ImpulseDataAbstractTpl(Model<Scalar> *const model, pinocchio::DataTpl<Scalar> *const data)

virtual ~ImpulseDataAbstractTpl() = default

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

SE3::ActionMatrixType fXj

MatrixXs dv0_dq

MatrixXs dtau_dq

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.