tsid::contacts::ContactBase Class Reference

Base template of a Contact. More...

#include <contact-base.hpp>

Inheritance diagram for tsid::contacts::ContactBase:

Public Types
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)=0
virtual const ConstraintInequality &	computeForceTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data)=0
virtual const ConstraintBase &	computeMotionTask (const double t, ConstRefVector q, ConstRefVector v, Data &data)=0
	ContactBase (const std::string &name, RobotWrapper &robot)
virtual const Matrix3x &	getContactPoints () const =0
virtual const ConstraintInequality &	getForceConstraint () const =0
virtual const Matrix &	getForceGeneratorMatrix ()=0
virtual const ConstraintEquality &	getForceRegularizationTask () const =0
virtual double	getMaxNormalForce () const =0
virtual double	getMinNormalForce () const =0
virtual const ConstraintBase &	getMotionConstraint () const =0
virtual const TaskSE3Equality &	getMotionTask () const =0
virtual double	getNormalForce (ConstRefVector f) const =0
virtual unsigned int	n_force () const =0
	Return the number of force variables. More...
virtual unsigned int	n_motion () const =0
	Return the number of motion constraints. More...
const std::string &	name () const
void	name (const std::string &name)
virtual bool	setMaxNormalForce (const double maxNormalForce)=0
virtual bool	setMinNormalForce (const double minNormalForce)=0
virtual	~ContactBase ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase	ConstraintBase

Protected Attributes
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model. More...

Detailed Description

Base template of a Contact.

Definition at line 31 of file contact-base.hpp.

Member Typedef Documentation

ConstraintEquality

typedef math::ConstraintEquality tsid::contacts::ContactBase::ConstraintEquality

Definition at line 37 of file contact-base.hpp.

ConstraintInequality

typedef math::ConstraintInequality tsid::contacts::ContactBase::ConstraintInequality

Definition at line 36 of file contact-base.hpp.

ConstRefVector

typedef math::ConstRefVector tsid::contacts::ContactBase::ConstRefVector

Definition at line 38 of file contact-base.hpp.

Data

typedef pinocchio::Data tsid::contacts::ContactBase::Data

Definition at line 42 of file contact-base.hpp.

Matrix

typedef math::Matrix tsid::contacts::ContactBase::Matrix

Definition at line 39 of file contact-base.hpp.

Matrix3x

typedef math::Matrix3x tsid::contacts::ContactBase::Matrix3x

Definition at line 40 of file contact-base.hpp.

RobotWrapper

typedef robots::RobotWrapper tsid::contacts::ContactBase::RobotWrapper

Definition at line 43 of file contact-base.hpp.

TaskSE3Equality

typedef tasks::TaskSE3Equality tsid::contacts::ContactBase::TaskSE3Equality

Definition at line 41 of file contact-base.hpp.

Constructor & Destructor Documentation

ContactBase()

tsid::contacts::ContactBase::ContactBase	(	const std::string &	name,
		RobotWrapper &	robot
	)

Definition at line 22 of file contact-base.cpp.

~ContactBase()

virtual tsid::contacts::ContactBase::~ContactBase ( )

inlinevirtual

Definition at line 47 of file contact-base.hpp.

Member Function Documentation

computeForceRegularizationTask()

virtual const ConstraintEquality& tsid::contacts::ContactBase::computeForceRegularizationTask ( const double  t, ConstRefVector  q, ConstRefVector  v, const Data &  data  )

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

computeForceTask()

virtual const ConstraintInequality& tsid::contacts::ContactBase::computeForceTask ( const double  t, ConstRefVector  q, ConstRefVector  v, const Data &  data  )

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

computeMotionTask()

virtual const ConstraintBase& tsid::contacts::ContactBase::computeMotionTask ( const double  t, ConstRefVector  q, ConstRefVector  v, Data &  data  )

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getContactPoints()

virtual const Matrix3x& tsid::contacts::ContactBase::getContactPoints ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getForceConstraint()

virtual const ConstraintInequality& tsid::contacts::ContactBase::getForceConstraint ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getForceGeneratorMatrix()

virtual const Matrix& tsid::contacts::ContactBase::getForceGeneratorMatrix ( )

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getForceRegularizationTask()

virtual const ConstraintEquality& tsid::contacts::ContactBase::getForceRegularizationTask ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getMaxNormalForce()

virtual double tsid::contacts::ContactBase::getMaxNormalForce ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getMinNormalForce()

virtual double tsid::contacts::ContactBase::getMinNormalForce ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getMotionConstraint()

virtual const ConstraintBase& tsid::contacts::ContactBase::getMotionConstraint ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getMotionTask()

virtual const TaskSE3Equality& tsid::contacts::ContactBase::getMotionTask ( ) const

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

getNormalForce()

virtual double tsid::contacts::ContactBase::getNormalForce ( ConstRefVector  f ) const

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

n_force()

virtual unsigned int tsid::contacts::ContactBase::n_force ( ) const

pure virtual

Return the number of force variables.

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

n_motion()

virtual unsigned int tsid::contacts::ContactBase::n_motion ( ) const

pure virtual

Return the number of motion constraints.

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

name() [1/2]

const std::string & tsid::contacts::ContactBase::name

(

)

const

Definition at line 25 of file contact-base.cpp.

name() [2/2]

void tsid::contacts::ContactBase::name

(

const std::string &

name

)

Definition at line 27 of file contact-base.cpp.

setMaxNormalForce()

virtual bool tsid::contacts::ContactBase::setMaxNormalForce ( const double  maxNormalForce )

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

setMinNormalForce()

virtual bool tsid::contacts::ContactBase::setMinNormalForce ( const double  minNormalForce )

pure virtual

Implemented in tsid::contacts::Contact6d, and tsid::contacts::ContactPoint.

Member Data Documentation

ConstraintBase

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase tsid::contacts::ContactBase::ConstraintBase

Definition at line 35 of file contact-base.hpp.

m_name

std::string tsid::contacts::ContactBase::m_name

protected

Definition at line 87 of file contact-base.hpp.

m_robot

RobotWrapper& tsid::contacts::ContactBase::m_robot

protected

Reference on the robot model.

Definition at line 89 of file contact-base.hpp.

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

• contact-base.hpp
• contact-base.cpp