Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Private Member Functions | List of all members
tsid::contacts::Contact6d Class Reference

#include <contact-6d.hpp>

Inheritance diagram for tsid::contacts::Contact6d:
Inheritance graph
[legend]

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::TaskMotion TaskMotion
 
typedef tasks::TaskSE3Equality TaskSE3Equality
 

Public Member Functions

const ConstraintEquality & computeForceRegularizationTask (double t, ConstRefVector q, ConstRefVector v, const Data &data) override
 
const ConstraintInequality & computeForceTask (double t, ConstRefVector q, ConstRefVector v, const Data &data) override
 
const ConstraintBase & computeMotionTask (double t, ConstRefVector q, ConstRefVector v, Data &data) override
 
 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 override
 
const ConstraintInequality & getForceConstraint () const override
 
const Matrix & getForceGeneratorMatrix () override
 
const ConstraintEquality & getForceRegularizationTask () const override
 
double getMaxNormalForce () const override
 
double getMinNormalForce () const override
 
const ConstraintBase & getMotionConstraint () const override
 
const TaskSE3Equality & getMotionTask () const override
 
double getNormalForce (ConstRefVector f) const override
 
const Vector & Kd () const
 
void Kd (ConstRefVector Kp)
 
const Vector & Kp () const
 
void Kp (ConstRefVector Kp)
 
unsigned int n_force () const override
 Return the number of force variables. More...
 
unsigned int n_motion () const override
 Return the number of motion constraints. More...
 
bool setContactNormal (ConstRefVector contactNormal)
 
bool setContactPoints (ConstRefMatrix contactPoints)
 
void setForceReference (ConstRefVector &f_ref)
 
bool setFrictionCoefficient (double frictionCoefficient)
 
bool setMaxNormalForce (double maxNormalForce) override
 
bool setMinNormalForce (double minNormalForce) override
 
void setReference (const SE3 &ref)
 
void setRegularizationTaskWeightVector (ConstRefVector &w)
 
- 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 ()=default
 

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.

Member Function Documentation

◆ computeForceRegularizationTask()

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

Implements tsid::contacts::ContactBase.

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

◆ computeForceTask()

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

Implements tsid::contacts::ContactBase.

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

◆ computeMotionTask()

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

Implements tsid::contacts::ContactBase.

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

◆ getContactPoints()

const Matrix3x & Contact6d::getContactPoints ( ) const
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ getForceConstraint()

const ConstraintInequality & Contact6d::getForceConstraint ( ) const
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ getForceGeneratorMatrix()

const Matrix & Contact6d::getForceGeneratorMatrix ( )
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ getForceRegularizationTask()

const ConstraintEquality & Contact6d::getForceRegularizationTask ( ) const
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ getMaxNormalForce()

double Contact6d::getMaxNormalForce ( ) const
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ getMinNormalForce()

double Contact6d::getMinNormalForce ( ) const
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ getMotionConstraint()

const ConstraintBase & Contact6d::getMotionConstraint ( ) const
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ getMotionTask()

const TaskSE3Equality & Contact6d::getMotionTask ( ) const
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ getNormalForce()

double Contact6d::getNormalForce ( ConstRefVector  f) const
overridevirtual

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
overridevirtual

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
overridevirtual

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 ( double  frictionCoefficient)

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

◆ setMaxNormalForce()

bool Contact6d::setMaxNormalForce ( double  maxNormalForce)
overridevirtual

Implements tsid::contacts::ContactBase.

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

◆ setMinNormalForce()

bool Contact6d::setMinNormalForce ( double  minNormalForce)
overridevirtual

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 114 of file contacts/contact-6d.hpp.

◆ m_contactPoints

Matrix3x tsid::contacts::Contact6d::m_contactPoints
protected

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

◆ m_fMax

double tsid::contacts::Contact6d::m_fMax
protected

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

◆ m_fMin

double tsid::contacts::Contact6d::m_fMin
protected

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

◆ m_forceGenMat

Matrix tsid::contacts::Contact6d::m_forceGenMat
protected

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

◆ m_forceInequality

ConstraintInequality tsid::contacts::Contact6d::m_forceInequality
protected

Definition at line 111 of file contacts/contact-6d.hpp.

◆ m_forceRegTask

ConstraintEquality tsid::contacts::Contact6d::m_forceRegTask
protected

Definition at line 112 of file contacts/contact-6d.hpp.

◆ m_fRef

Vector6 tsid::contacts::Contact6d::m_fRef
protected

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

◆ m_motionTask

TaskSE3Equality tsid::contacts::Contact6d::m_motionTask
protected

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

◆ m_mu

double tsid::contacts::Contact6d::m_mu
protected

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

◆ m_weightForceRegTask

Vector6 tsid::contacts::Contact6d::m_weightForceRegTask
protected

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

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

tsid
Author(s): Andrea Del Prete, Justin Carpentier
autogenerated on Sat May 3 2025 02:48:17