pinocchio::CoulombFrictionConeTpl< _Scalar > Struct Template Reference

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#include <coulomb-friction-cone.hpp>

Public Types
typedef DualCoulombFrictionConeTpl< Scalar >	DualCone
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, 3, 1 >	Vector3

Public Member Functions
	CoulombFrictionConeTpl (const CoulombFrictionConeTpl &other)=default
	Copy constructor. More...
	CoulombFrictionConeTpl (const Scalar mu)
	Default constructor. More...
template<typename Vector3Like >
bool	isInside (const Eigen::MatrixBase< Vector3Like > &f, const Scalar prec=Scalar(0)) const
	Check whether a vector x lies within the cone. More...
bool	operator!= (const CoulombFrictionConeTpl &other) const
	Difference operator. More...
CoulombFrictionConeTpl &	operator= (const CoulombFrictionConeTpl &other)=default
	Copy operator. More...
bool	operator== (const CoulombFrictionConeTpl &other) const
	Comparison operator. More...
template<typename Vector3Like >
	PINOCCHIO_EIGEN_PLAIN_TYPE (Vector3Like) project(const Eigen
	Project a vector x onto the cone. More...

Public Attributes
Scalar	mu

Detailed Description

template<typename _Scalar>
struct pinocchio::CoulombFrictionConeTpl< _Scalar >

 

3d Coulomb friction cone.

Definition at line 20 of file algorithm/constraints/coulomb-friction-cone.hpp.

Member Typedef Documentation

DualCone

template<typename _Scalar >

typedef DualCoulombFrictionConeTpl<Scalar> pinocchio::CoulombFrictionConeTpl< _Scalar >::DualCone

Definition at line 23 of file algorithm/constraints/coulomb-friction-cone.hpp.

Scalar

template<typename _Scalar >

typedef _Scalar pinocchio::CoulombFrictionConeTpl< _Scalar >::Scalar

Definition at line 22 of file algorithm/constraints/coulomb-friction-cone.hpp.

Vector3

template<typename _Scalar >

typedef Eigen::Matrix<Scalar, 3, 1> pinocchio::CoulombFrictionConeTpl< _Scalar >::Vector3

Definition at line 24 of file algorithm/constraints/coulomb-friction-cone.hpp.

Constructor & Destructor Documentation

CoulombFrictionConeTpl() [1/2]

template<typename _Scalar >

pinocchio::CoulombFrictionConeTpl< _Scalar >::CoulombFrictionConeTpl ( const Scalar  mu )

inlineexplicit

Default constructor.

Parameters

[in]

mu

Friction coefficient

Definition at line 29 of file algorithm/constraints/coulomb-friction-cone.hpp.

CoulombFrictionConeTpl() [2/2]

template<typename _Scalar >

pinocchio::CoulombFrictionConeTpl< _Scalar >::CoulombFrictionConeTpl ( const CoulombFrictionConeTpl< _Scalar > &  other )

default

Copy constructor.

Member Function Documentation

isInside()

template<typename _Scalar >

template<typename Vector3Like >

bool pinocchio::CoulombFrictionConeTpl< _Scalar >::isInside ( const Eigen::MatrixBase< Vector3Like > &  f, const Scalar  prec = Scalar(0)  ) const

inline

Check whether a vector x lies within the cone.

Parameters

[in]

f

vector to check (assimilated to a force vector).

Definition at line 58 of file algorithm/constraints/coulomb-friction-cone.hpp.

operator!=()

template<typename _Scalar >

bool pinocchio::CoulombFrictionConeTpl< _Scalar >::operator!= ( const CoulombFrictionConeTpl< _Scalar > &  other ) const

inline

Difference operator.

Definition at line 48 of file algorithm/constraints/coulomb-friction-cone.hpp.

operator=()

template<typename _Scalar >

CoulombFrictionConeTpl& pinocchio::CoulombFrictionConeTpl< _Scalar >::operator= ( const CoulombFrictionConeTpl< _Scalar > &  other )

default

Copy operator.

operator==()

template<typename _Scalar >

bool pinocchio::CoulombFrictionConeTpl< _Scalar >::operator== ( const CoulombFrictionConeTpl< _Scalar > &  other ) const

inline

Comparison operator.

Definition at line 42 of file algorithm/constraints/coulomb-friction-cone.hpp.

PINOCCHIO_EIGEN_PLAIN_TYPE()

template<typename _Scalar >

template<typename Vector3Like >

pinocchio::CoulombFrictionConeTpl< _Scalar >::PINOCCHIO_EIGEN_PLAIN_TYPE ( Vector3Like  ) const

inline

Project a vector x onto the cone.

Parameters

[in]

x

a 3d vector to project.

Project a vector x onto the cone with a matric specified by the diagonal matrix R.

\param[in] x a 3d vector to project.
\param[in] R a 3d vector representing the diagonal of the weights matrix. The tangential
components (the first two) of R should be equal.

Compute the complementary shift associted to the Coulomb friction cone for complementarity satisfaction in complementary problems.

Parameters

[in]

v

a dual vector.

Compute the radial projection associted to the Coulomb friction cone.

\param[in] f a force vector.

Definition at line 71 of file algorithm/constraints/coulomb-friction-cone.hpp.

Member Data Documentation

mu

template<typename _Scalar >

Scalar pinocchio::CoulombFrictionConeTpl< _Scalar >::mu

Definition at line 197 of file algorithm/constraints/coulomb-friction-cone.hpp.

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

• algorithm/constraints/coulomb-friction-cone.hpp