tvm::robot::internal::DynamicFunction::ForceContact Struct Reference

#include <tvm/robot/internal/DynamicFunction.h>

Collaboration diagram for tvm::robot::internal::DynamicFunction::ForceContact:

Public Attributes
Contact::Id	id_
bool	linearized_
std::vector< tvm::VariablePtr >	forces_
std::function< sva::ForceVecd(const ForceContact &)>	force_
Eigen::MatrixXd	force_jac_
Eigen::MatrixXd	full_jac_
std::function< void(ForceContact &, DynamicFunction &)>	updateJacobians_

Detailed Description

Holds data for the force part of the motion equation

Member Data Documentation

force_

std::function<sva::ForceVecd(const ForceContact &)> tvm::robot::internal::DynamicFunction::ForceContact::force_

Compute the resulting force on the contact

force_jac_

Eigen::MatrixXd tvm::robot::internal::DynamicFunction::ForceContact::force_jac_

Used for intermediate Jacobian computation

forces_

std::vector<tvm::VariablePtr> tvm::robot::internal::DynamicFunction::ForceContact::forces_

Force (1 3d variable per contact point)

OR

lambdas (1 nrGen-d variable per contact point)

full_jac_

Eigen::MatrixXd tvm::robot::internal::DynamicFunction::ForceContact::full_jac_

id_

Contact::Id tvm::robot::internal::DynamicFunction::ForceContact::id_

Contact id

linearized_

bool tvm::robot::internal::DynamicFunction::ForceContact::linearized_

True if the contact has been linearized

updateJacobians_

std::function<void(ForceContact &, DynamicFunction &)> tvm::robot::internal::DynamicFunction::ForceContact::updateJacobians_

Update jacobians

---

The documentation for this struct was generated from the following file:

• include/tvm/robot/internal/DynamicFunction.h