engine

enum class jiminy::ContactModelType : uint8_t

Values:

enumerator UNSUPPORTED

enumerator SPRING_DAMPER

enumerator CONSTRAINT

enum class jiminy::ConstraintSolverType : uint8_t

Values:

enumerator UNSUPPORTED

enumerator PGS

struct ProfileForce

Public Functions

explicit ProfileForce() = default

explicit ProfileForce(const std::string &frameNameIn, pinocchio::FrameIndex frameIndexIn, double updatePeriodIn, const ProfileForceFunction &forceFuncIn) noexcept

Public Members

std::string frameName = {}

pinocchio::FrameIndex frameIndex = {0}

double updatePeriod = {0.0}

pinocchio::Force force = {pinocchio::Force::Zero()}

ProfileForceFunction func = {}

struct ImpulseForce

Public Functions

explicit ImpulseForce() = default

explicit ImpulseForce(const std::string &frameNameIn, pinocchio::FrameIndex frameIndexIn, double tIn, double dtIn, const pinocchio::Force &forceIn) noexcept

Public Members

std::string frameName = {}

pinocchio::FrameIndex frameIndex = {0}

double t = {0.0}

double dt = {0.0}

pinocchio::Force force = {}

struct CouplingForce

Public Functions

explicit CouplingForce() = default

explicit CouplingForce(const std::string &robotName1In, std::ptrdiff_t robotIndex1In, const std::string &robotName2In, std::ptrdiff_t robotIndex2In, const std::string &frameName1In, pinocchio::FrameIndex frameIndex1In, const std::string &frameName2In, pinocchio::FrameIndex frameIndex2In, const CouplingForceFunction &forceFunIn) noexcept

Public Members

std::string robotName1 = {}

std::ptrdiff_t robotIndex1 = {-1}

std::string robotName2 = {}

std::ptrdiff_t robotIndex2 = {-1}

std::string frameName1 = {}

pinocchio::FrameIndex frameIndex1 = {0}

std::string frameName2 = {}

pinocchio::FrameIndex frameIndex2 = {0}

CouplingForceFunction func = {}

struct RobotState

Public Functions

void initialize(const Robot &robot)

bool getIsInitialized() const

void clear()

Public Members

Eigen::VectorXd q = {}

Eigen::VectorXd v = {}

Eigen::VectorXd a = {}

Eigen::VectorXd command = {}

Eigen::VectorXd u = {}

Eigen::VectorXd uMotor = {}

Eigen::VectorXd uInternal = {}

Eigen::VectorXd uCustom = {}

ForceVector fExternal = {}

struct StepperState

Public Functions

inline void reset(double dtInit, const std::vector<Eigen::VectorXd> &qSplitInit, const std::vector<Eigen::VectorXd> &vSplitInit, const std::vector<Eigen::VectorXd> &aSplitInit)

Public Members

uint32_t iter = {0U}

uint32_t iterFailed = {0U}

double t = {0.0}

double tPrev = {0.0}

double tError = {0.0}

Internal buffer used for Kahan algorithm storing the residual sum of errors.

double dt = {0.0}

double dtLargest = {0.0}

double dtLargestPrev = {0.0}

std::vector<Eigen::VectorXd> qSplit = {}

std::vector<Eigen::VectorXd> vSplit = {}

std::vector<Eigen::VectorXd> aSplit = {}

Warning

doxygenstruct: Cannot find class “jiminy::Engine” in doxygen xml output for project “jiminy” from directory: /home/runner/work/jiminy/jiminy/build/doxygen/xml