#include <contact-6d.hpp>

Inheritance diagram for tsid::contacts::Contact6d:

Public Types
typedef math::ConstraintEquality	ConstraintEquality

typedef math::ConstraintInequality	ConstraintInequality

typedef math::ConstRefVector	ConstRefVector

typedef math::Matrix3x	Matrix3x

typedef pinocchio::SE3	SE3

typedef tasks::TaskSE3Equality	TaskSE3Equality

typedef math::Vector	Vector

typedef math::Vector3	Vector3

typedef math::Vector6	Vector6

Public Types inherited from tsid::contacts::ContactBase
typedef math::ConstraintEquality	ConstraintEquality

typedef math::ConstraintInequality	ConstraintInequality

typedef math::ConstRefVector	ConstRefVector

typedef pinocchio::Data	Data

typedef math::Matrix	Matrix

typedef math::Matrix3x	Matrix3x

typedef robots::RobotWrapper	RobotWrapper

typedef tasks::TaskSE3Equality	TaskSE3Equality

Public Member Functions
virtual const ConstraintEquality &	computeForceRegularizationTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data)

virtual const ConstraintInequality &	computeForceTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data)

virtual const ConstraintBase &	computeMotionTask (const double t, ConstRefVector q, ConstRefVector v, Data &data)

	Contact6d (const std::string &name, RobotWrapper &robot, const std::string &frameName, ConstRefMatrix contactPoints, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce)

TSID_DEPRECATED	Contact6d (const std::string &name, RobotWrapper &robot, const std::string &frameName, ConstRefMatrix contactPoints, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce, const double forceRegWeight)

const Matrix3x &	getContactPoints () const

const ConstraintInequality &	getForceConstraint () const

virtual const Matrix &	getForceGeneratorMatrix ()

const ConstraintEquality &	getForceRegularizationTask () const

double	getMaxNormalForce () const

double	getMinNormalForce () const

const ConstraintBase &	getMotionConstraint () const

const TaskSE3Equality &	getMotionTask () const

double	getNormalForce (ConstRefVector f) const

const Vector &	Kd () const

void	Kd (ConstRefVector Kp)

const Vector &	Kp () const

void	Kp (ConstRefVector Kp)

virtual unsigned int	n_force () const
	Return the number of force variables. More...

virtual unsigned int	n_motion () const
	Return the number of motion constraints. More...

bool	setContactNormal (ConstRefVector contactNormal)

bool	setContactPoints (ConstRefMatrix contactPoints)

void	setForceReference (ConstRefVector &f_ref)

bool	setFrictionCoefficient (const double frictionCoefficient)

bool	setMaxNormalForce (const double maxNormalForce)

bool	setMinNormalForce (const double minNormalForce)

void	setReference (const SE3 &ref)

void	setRegularizationTaskWeightVector (ConstRefVector &w)

virtual	~Contact6d ()

Public Member Functions inherited from tsid::contacts::ContactBase
	ContactBase (const std::string &name, RobotWrapper &robot)

const std::string &	name () const

void	name (const std::string &name)

virtual	~ContactBase ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix	ConstRefMatrix

Public Attributes inherited from tsid::contacts::ContactBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Member Functions
void	updateForceGeneratorMatrix ()

void	updateForceInequalityConstraints ()

void	updateForceRegularizationTask ()

Protected Attributes
Vector3	m_contactNormal

Matrix3x	m_contactPoints

double	m_fMax

double	m_fMin

Matrix	m_forceGenMat

ConstraintInequality	m_forceInequality

ConstraintEquality	m_forceRegTask

Vector6	m_fRef

TaskSE3Equality	m_motionTask

double	m_mu

Vector6	m_weightForceRegTask

Protected Attributes inherited from tsid::contacts::ContactBase
std::string	m_name

RobotWrapper &	m_robot
	Reference on the robot model. More...

Private Member Functions
void	init ()

Detailed Description

Definition at line 29 of file contacts/contact-6d.hpp.

Member Typedef Documentation

◆ ConstraintEquality

typedef math::ConstraintEquality tsid::contacts::Contact6d::ConstraintEquality

Definition at line 41 of file contacts/contact-6d.hpp.

◆ ConstraintInequality

typedef math::ConstraintInequality tsid::contacts::Contact6d::ConstraintInequality

Definition at line 40 of file contacts/contact-6d.hpp.

◆ ConstRefVector

typedef math::ConstRefVector tsid::contacts::Contact6d::ConstRefVector

Definition at line 34 of file contacts/contact-6d.hpp.

◆ Matrix3x

typedef math::Matrix3x tsid::contacts::Contact6d::Matrix3x

Definition at line 35 of file contacts/contact-6d.hpp.

◆ SE3

typedef pinocchio::SE3 tsid::contacts::Contact6d::SE3

Definition at line 42 of file contacts/contact-6d.hpp.

◆ TaskSE3Equality

typedef tasks::TaskSE3Equality tsid::contacts::Contact6d::TaskSE3Equality

Definition at line 39 of file contacts/contact-6d.hpp.

◆ Vector

typedef math::Vector tsid::contacts::Contact6d::Vector

Definition at line 38 of file contacts/contact-6d.hpp.

◆ Vector3

typedef math::Vector3 tsid::contacts::Contact6d::Vector3

Definition at line 37 of file contacts/contact-6d.hpp.

◆ Vector6

typedef math::Vector6 tsid::contacts::Contact6d::Vector6

Definition at line 36 of file contacts/contact-6d.hpp.

Constructor & Destructor Documentation

◆ Contact6d() [1/2]

Contact6d::Contact6d	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName,
		ConstRefMatrix	contactPoints,
		ConstRefVector	contactNormal,
		const double	frictionCoefficient,
		const double	minNormalForce,
		const double	maxNormalForce
	)

Definition at line 29 of file src/contacts/contact-6d.cpp.

◆ Contact6d() [2/2]

Contact6d::Contact6d	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName,
		ConstRefMatrix	contactPoints,
		ConstRefVector	contactNormal,
		const double	frictionCoefficient,
		const double	minNormalForce,
		const double	maxNormalForce,
		const double	forceRegWeight
	)

Definition at line 46 of file src/contacts/contact-6d.cpp.

◆ ~Contact6d()

virtual tsid::contacts::Contact6d::~Contact6d ( )

inlinevirtual

Definition at line 58 of file contacts/contact-6d.hpp.

Member Function Documentation

◆ computeForceRegularizationTask()

const ConstraintEquality & Contact6d::computeForceRegularizationTask	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		const Data &	data
	)

virtual

Implements tsid::contacts::ContactBase.

Definition at line 229 of file src/contacts/contact-6d.cpp.

◆ computeForceTask()

const ConstraintInequality & Contact6d::computeForceTask	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		const Data &	data
	)

virtual

Implements tsid::contacts::ContactBase.

Definition at line 220 of file src/contacts/contact-6d.cpp.

◆ computeMotionTask()

const ConstraintBase & Contact6d::computeMotionTask	(	const double	t,
		ConstRefVector	q,
		ConstRefVector	v,
		Data &	data
	)

virtual

Implements tsid::contacts::ContactBase.

Definition at line 213 of file src/contacts/contact-6d.cpp.

◆ getContactPoints()

const Matrix3x & Contact6d::getContactPoints ( ) const

virtual

Implements tsid::contacts::ContactBase.

Definition at line 161 of file src/contacts/contact-6d.cpp.

◆ getForceConstraint()

const ConstraintInequality & Contact6d::getForceConstraint ( ) const

virtual

Implements tsid::contacts::ContactBase.

Definition at line 243 of file src/contacts/contact-6d.cpp.

◆ getForceGeneratorMatrix()

const Matrix & Contact6d::getForceGeneratorMatrix ( )

virtual

Implements tsid::contacts::ContactBase.

Definition at line 227 of file src/contacts/contact-6d.cpp.

◆ getForceRegularizationTask()

const ConstraintEquality & Contact6d::getForceRegularizationTask ( ) const

virtual

Implements tsid::contacts::ContactBase.

Definition at line 247 of file src/contacts/contact-6d.cpp.

◆ getMaxNormalForce()

double Contact6d::getMaxNormalForce ( ) const

virtual

Implements tsid::contacts::ContactBase.

Definition at line 235 of file src/contacts/contact-6d.cpp.

◆ getMinNormalForce()

double Contact6d::getMinNormalForce ( ) const

virtual

Implements tsid::contacts::ContactBase.

Definition at line 234 of file src/contacts/contact-6d.cpp.

◆ getMotionConstraint()

const ConstraintBase & Contact6d::getMotionConstraint ( ) const

virtual

Implements tsid::contacts::ContactBase.

Definition at line 239 of file src/contacts/contact-6d.cpp.

◆ getMotionTask()

const TaskSE3Equality & Contact6d::getMotionTask ( ) const

virtual

Implements tsid::contacts::ContactBase.

Definition at line 237 of file src/contacts/contact-6d.cpp.

◆ getNormalForce()

double Contact6d::getNormalForce ( ConstRefVector f ) const

virtual

Implements tsid::contacts::ContactBase.

Definition at line 110 of file src/contacts/contact-6d.cpp.

◆ init()

void Contact6d::init ( )

private

Definition at line 67 of file src/contacts/contact-6d.cpp.

◆ Kd() [1/2]

const Vector & Contact6d::Kd ( ) const

Definition at line 146 of file src/contacts/contact-6d.cpp.

◆ Kd() [2/2]

void Contact6d::Kd ( ConstRefVector Kp )

Definition at line 148 of file src/contacts/contact-6d.cpp.

◆ Kp() [1/2]

const Vector & Contact6d::Kp ( ) const

Definition at line 145 of file src/contacts/contact-6d.cpp.

◆ Kp() [2/2]

void Contact6d::Kp ( ConstRefVector Kp )

Definition at line 147 of file src/contacts/contact-6d.cpp.

◆ n_force()

unsigned int Contact6d::n_force ( ) const

virtual

Return the number of force variables.

Implements tsid::contacts::ContactBase.

Definition at line 143 of file src/contacts/contact-6d.cpp.

◆ n_motion()

unsigned int Contact6d::n_motion ( ) const

virtual

Return the number of motion constraints.

Implements tsid::contacts::ContactBase.

Definition at line 142 of file src/contacts/contact-6d.cpp.

◆ setContactNormal()

bool Contact6d::setContactNormal ( ConstRefVector contactNormal )

Definition at line 163 of file src/contacts/contact-6d.cpp.

◆ setContactPoints()

bool Contact6d::setContactPoints ( ConstRefMatrix contactPoints )

Definition at line 150 of file src/contacts/contact-6d.cpp.

◆ setForceReference()

void Contact6d::setForceReference ( ConstRefVector & f_ref )

Definition at line 206 of file src/contacts/contact-6d.cpp.

◆ setFrictionCoefficient()

bool Contact6d::setFrictionCoefficient ( const double frictionCoefficient )

Definition at line 173 of file src/contacts/contact-6d.cpp.

◆ setMaxNormalForce()

bool Contact6d::setMaxNormalForce ( const double maxNormalForce )

virtual

Implements tsid::contacts::ContactBase.

Definition at line 195 of file src/contacts/contact-6d.cpp.

◆ setMinNormalForce()

bool Contact6d::setMinNormalForce ( const double minNormalForce )

virtual

Implements tsid::contacts::ContactBase.

Definition at line 183 of file src/contacts/contact-6d.cpp.

◆ setReference()

void Contact6d::setReference ( const SE3 & ref )

Definition at line 211 of file src/contacts/contact-6d.cpp.

◆ setRegularizationTaskWeightVector()

void Contact6d::setRegularizationTaskWeightVector ( ConstRefVector & w )

Definition at line 119 of file src/contacts/contact-6d.cpp.

◆ updateForceGeneratorMatrix()

void Contact6d::updateForceGeneratorMatrix ( )

protected

Definition at line 132 of file src/contacts/contact-6d.cpp.

◆ updateForceInequalityConstraints()

void Contact6d::updateForceInequalityConstraints ( )

protected

Definition at line 76 of file src/contacts/contact-6d.cpp.

◆ updateForceRegularizationTask()

void Contact6d::updateForceRegularizationTask ( )

protected

Definition at line 124 of file src/contacts/contact-6d.cpp.

Member Data Documentation

◆ ConstRefMatrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix tsid::contacts::Contact6d::ConstRefMatrix

Definition at line 33 of file contacts/contact-6d.hpp.

◆ m_contactNormal

Vector3 tsid::contacts::Contact6d::m_contactNormal

protected

Definition at line 117 of file contacts/contact-6d.hpp.

◆ m_contactPoints

Matrix3x tsid::contacts::Contact6d::m_contactPoints

protected

Definition at line 116 of file contacts/contact-6d.hpp.

◆ m_fMax

double tsid::contacts::Contact6d::m_fMax

protected

Definition at line 122 of file contacts/contact-6d.hpp.

◆ m_fMin

double tsid::contacts::Contact6d::m_fMin

protected

Definition at line 121 of file contacts/contact-6d.hpp.

◆ m_forceGenMat

Matrix tsid::contacts::Contact6d::m_forceGenMat

protected

Definition at line 123 of file contacts/contact-6d.hpp.

◆ m_forceInequality

ConstraintInequality tsid::contacts::Contact6d::m_forceInequality

protected

Definition at line 114 of file contacts/contact-6d.hpp.

◆ m_forceRegTask

ConstraintEquality tsid::contacts::Contact6d::m_forceRegTask

protected

Definition at line 115 of file contacts/contact-6d.hpp.

◆ m_fRef

Vector6 tsid::contacts::Contact6d::m_fRef

protected

Definition at line 118 of file contacts/contact-6d.hpp.

◆ m_motionTask

TaskSE3Equality tsid::contacts::Contact6d::m_motionTask

protected

Definition at line 113 of file contacts/contact-6d.hpp.

◆ m_mu

double tsid::contacts::Contact6d::m_mu

protected

Definition at line 120 of file contacts/contact-6d.hpp.

◆ m_weightForceRegTask

Vector6 tsid::contacts::Contact6d::m_weightForceRegTask

protected

Definition at line 119 of file contacts/contact-6d.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstraintEquality

◆ ConstraintInequality

◆ ConstRefVector

◆ Matrix3x

◆ SE3

◆ TaskSE3Equality

◆ Vector

◆ Vector3

◆ Vector6

Constructor & Destructor Documentation

◆ Contact6d() [1/2]

◆ Contact6d() [2/2]

◆ ~Contact6d()

Member Function Documentation

◆ computeForceRegularizationTask()

◆ computeForceTask()

◆ computeMotionTask()

◆ getContactPoints()

◆ getForceConstraint()

◆ getForceGeneratorMatrix()

◆ getForceRegularizationTask()

◆ getMaxNormalForce()

◆ getMinNormalForce()

◆ getMotionConstraint()

◆ getMotionTask()

◆ getNormalForce()

◆ init()

◆ Kd() [1/2]

◆ Kd() [2/2]

◆ Kp() [1/2]

◆ Kp() [2/2]

◆ n_force()

◆ n_motion()

◆ setContactNormal()

◆ setContactPoints()

◆ setForceReference()

◆ setFrictionCoefficient()

◆ setMaxNormalForce()

◆ setMinNormalForce()

◆ setReference()

◆ setRegularizationTaskWeightVector()

◆ updateForceGeneratorMatrix()

◆ updateForceInequalityConstraints()

◆ updateForceRegularizationTask()

Member Data Documentation

◆ ConstRefMatrix

◆ m_contactNormal

◆ m_contactPoints

◆ m_fMax

◆ m_fMin

◆ m_forceGenMat

◆ m_forceInequality

◆ m_forceRegTask

◆ m_fRef

◆ m_motionTask

◆ m_mu

◆ m_weightForceRegTask