tsid::contacts::ContactTwoFramePositions Class Reference

#include <contact-two-frame-positions.hpp>

Inheritance diagram for tsid::contacts::ContactTwoFramePositions:

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 tasks::TaskTwoFramesEquality	TaskTwoFramesEquality
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
	ContactTwoFramePositions (const std::string &name, RobotWrapper &robot, const std::string &frameName1, const std::string &frameName2, const double minNormalForce, const double maxNormalForce)
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 TaskTwoFramesEquality &	getMotionTask () const override
double	getMotionTaskWeight () const
double	getNormalForce (ConstRefVector f) const override
const Vector &	Kd ()
void	Kd (ConstRefVector Kp)
const Vector &	Kp ()
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)
void	setForceReference (ConstRefVector &f_ref)
bool	setFrictionCoefficient (const double frictionCoefficient)
bool	setMaxNormalForce (const double maxNormalForce) override
bool	setMinNormalForce (const double minNormalForce) override
bool	setMotionTaskWeight (const double w)
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
Matrix3x	m_contactPoints
double	m_fMax
double	m_fMin
Matrix	m_forceGenMat
ConstraintInequality	m_forceInequality
ConstraintEquality	m_forceRegTask
Vector3	m_fRef
Vector	m_Kd3
Vector	m_Kp3
TaskTwoFramesEquality	m_motionTask
double	m_motionTaskWeight
double	m_regularizationTaskWeight
Vector3	m_weightForceRegTask
Protected Attributes inherited from tsid::contacts::ContactBase
std::string	m_name
RobotWrapper &	m_robot
	Reference on the robot model. More...

Detailed Description

Definition at line 29 of file contacts/contact-two-frame-positions.hpp.

Member Typedef Documentation

ConstraintEquality

typedef math::ConstraintEquality tsid::contacts::ContactTwoFramePositions::ConstraintEquality

Definition at line 42 of file contacts/contact-two-frame-positions.hpp.

ConstraintInequality

typedef math::ConstraintInequality tsid::contacts::ContactTwoFramePositions::ConstraintInequality

Definition at line 41 of file contacts/contact-two-frame-positions.hpp.

ConstRefVector

typedef math::ConstRefVector tsid::contacts::ContactTwoFramePositions::ConstRefVector

Definition at line 34 of file contacts/contact-two-frame-positions.hpp.

Matrix3x

typedef math::Matrix3x tsid::contacts::ContactTwoFramePositions::Matrix3x

Definition at line 35 of file contacts/contact-two-frame-positions.hpp.

SE3

typedef pinocchio::SE3 tsid::contacts::ContactTwoFramePositions::SE3

Definition at line 43 of file contacts/contact-two-frame-positions.hpp.

TaskSE3Equality

typedef tasks::TaskSE3Equality tsid::contacts::ContactTwoFramePositions::TaskSE3Equality

Definition at line 40 of file contacts/contact-two-frame-positions.hpp.

TaskTwoFramesEquality

typedef tasks::TaskTwoFramesEquality tsid::contacts::ContactTwoFramePositions::TaskTwoFramesEquality

Definition at line 39 of file contacts/contact-two-frame-positions.hpp.

Vector

typedef math::Vector tsid::contacts::ContactTwoFramePositions::Vector

Definition at line 38 of file contacts/contact-two-frame-positions.hpp.

Vector3

typedef math::Vector3 tsid::contacts::ContactTwoFramePositions::Vector3

Definition at line 37 of file contacts/contact-two-frame-positions.hpp.

Vector6

typedef math::Vector6 tsid::contacts::ContactTwoFramePositions::Vector6

Definition at line 36 of file contacts/contact-two-frame-positions.hpp.

Constructor & Destructor Documentation

ContactTwoFramePositions()

ContactTwoFramePositions::ContactTwoFramePositions	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName1,
		const std::string &	frameName2,
		const double	minNormalForce,
		const double	maxNormalForce
	)

Definition at line 29 of file src/contacts/contact-two-frame-positions.cpp.

Member Function Documentation

computeForceRegularizationTask()

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

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 167 of file src/contacts/contact-two-frame-positions.cpp.

computeForceTask()

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

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 157 of file src/contacts/contact-two-frame-positions.cpp.

computeMotionTask()

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

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 152 of file src/contacts/contact-two-frame-positions.cpp.

getContactPoints()

const Matrix3x & ContactTwoFramePositions::getContactPoints ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 75 of file src/contacts/contact-two-frame-positions.cpp.

getForceConstraint()

const ConstraintInequality & ContactTwoFramePositions::getForceConstraint ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 185 of file src/contacts/contact-two-frame-positions.cpp.

getForceGeneratorMatrix()

const Matrix & ContactTwoFramePositions::getForceGeneratorMatrix ( )

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 162 of file src/contacts/contact-two-frame-positions.cpp.

getForceRegularizationTask()

const ConstraintEquality & ContactTwoFramePositions::getForceRegularizationTask ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 190 of file src/contacts/contact-two-frame-positions.cpp.

getMaxNormalForce()

double ContactTwoFramePositions::getMaxNormalForce ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 175 of file src/contacts/contact-two-frame-positions.cpp.

getMinNormalForce()

double ContactTwoFramePositions::getMinNormalForce ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 174 of file src/contacts/contact-two-frame-positions.cpp.

getMotionConstraint()

const ConstraintBase & ContactTwoFramePositions::getMotionConstraint ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 181 of file src/contacts/contact-two-frame-positions.cpp.

getMotionTask()

const TaskTwoFramesEquality & ContactTwoFramePositions::getMotionTask ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 177 of file src/contacts/contact-two-frame-positions.cpp.

getMotionTaskWeight()

double tsid::contacts::ContactTwoFramePositions::getMotionTaskWeight

(

)

const

getNormalForce()

double ContactTwoFramePositions::getNormalForce ( ConstRefVector  f ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 71 of file src/contacts/contact-two-frame-positions.cpp.

Kd() [1/2]

const Vector & ContactTwoFramePositions::Kd

(

)

Definition at line 107 of file src/contacts/contact-two-frame-positions.cpp.

Kd() [2/2]

void ContactTwoFramePositions::Kd

(

ConstRefVector

Kp

)

Definition at line 119 of file src/contacts/contact-two-frame-positions.cpp.

Kp() [1/2]

const Vector & ContactTwoFramePositions::Kp

(

)

Definition at line 102 of file src/contacts/contact-two-frame-positions.cpp.

Kp() [2/2]

void ContactTwoFramePositions::Kp

(

ConstRefVector

Kp

)

Definition at line 112 of file src/contacts/contact-two-frame-positions.cpp.

n_force()

unsigned int ContactTwoFramePositions::n_force ( ) const

overridevirtual

Return the number of force variables.

Implements tsid::contacts::ContactBase.

Definition at line 100 of file src/contacts/contact-two-frame-positions.cpp.

n_motion()

unsigned int ContactTwoFramePositions::n_motion ( ) const

overridevirtual

Return the number of motion constraints.

Implements tsid::contacts::ContactBase.

Definition at line 97 of file src/contacts/contact-two-frame-positions.cpp.

setContactNormal()

bool ContactTwoFramePositions::setContactNormal

(

ConstRefVector

contactNormal

)

Definition at line 126 of file src/contacts/contact-two-frame-positions.cpp.

setForceReference()

void ContactTwoFramePositions::setForceReference

(

ConstRefVector &

f_ref

)

Definition at line 147 of file src/contacts/contact-two-frame-positions.cpp.

setFrictionCoefficient()

bool ContactTwoFramePositions::setFrictionCoefficient

(

const double

frictionCoefficient

)

Definition at line 130 of file src/contacts/contact-two-frame-positions.cpp.

setMaxNormalForce()

bool ContactTwoFramePositions::setMaxNormalForce ( const double  maxNormalForce )

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 141 of file src/contacts/contact-two-frame-positions.cpp.

setMinNormalForce()

bool ContactTwoFramePositions::setMinNormalForce ( const double  minNormalForce )

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 135 of file src/contacts/contact-two-frame-positions.cpp.

setMotionTaskWeight()

bool tsid::contacts::ContactTwoFramePositions::setMotionTaskWeight

(

const double

w

)

setRegularizationTaskWeightVector()

void ContactTwoFramePositions::setRegularizationTaskWeightVector

(

ConstRefVector &

w

)

Definition at line 79 of file src/contacts/contact-two-frame-positions.cpp.

updateForceGeneratorMatrix()

void ContactTwoFramePositions::updateForceGeneratorMatrix ( )

protected

Definition at line 93 of file src/contacts/contact-two-frame-positions.cpp.

updateForceInequalityConstraints()

void ContactTwoFramePositions::updateForceInequalityConstraints ( )

protected

Definition at line 60 of file src/contacts/contact-two-frame-positions.cpp.

updateForceRegularizationTask()

void ContactTwoFramePositions::updateForceRegularizationTask ( )

protected

Definition at line 85 of file src/contacts/contact-two-frame-positions.cpp.

Member Data Documentation

ConstRefMatrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix tsid::contacts::ContactTwoFramePositions::ConstRefMatrix

Definition at line 33 of file contacts/contact-two-frame-positions.hpp.

m_contactPoints

Matrix3x tsid::contacts::ContactTwoFramePositions::m_contactPoints

protected

Definition at line 107 of file contacts/contact-two-frame-positions.hpp.

m_fMax

double tsid::contacts::ContactTwoFramePositions::m_fMax

protected

Definition at line 110 of file contacts/contact-two-frame-positions.hpp.

m_fMin

double tsid::contacts::ContactTwoFramePositions::m_fMin

protected

Definition at line 109 of file contacts/contact-two-frame-positions.hpp.

m_forceGenMat

Matrix tsid::contacts::ContactTwoFramePositions::m_forceGenMat

protected

Definition at line 113 of file contacts/contact-two-frame-positions.hpp.

m_forceInequality

ConstraintInequality tsid::contacts::ContactTwoFramePositions::m_forceInequality

protected

Definition at line 103 of file contacts/contact-two-frame-positions.hpp.

m_forceRegTask

ConstraintEquality tsid::contacts::ContactTwoFramePositions::m_forceRegTask

protected

Definition at line 104 of file contacts/contact-two-frame-positions.hpp.

m_fRef

Vector3 tsid::contacts::ContactTwoFramePositions::m_fRef

protected

Definition at line 105 of file contacts/contact-two-frame-positions.hpp.

m_Kd3

Vector tsid::contacts::ContactTwoFramePositions::m_Kd3

protected

Definition at line 108 of file contacts/contact-two-frame-positions.hpp.

m_Kp3

Vector tsid::contacts::ContactTwoFramePositions::m_Kp3

protected

Definition at line 108 of file contacts/contact-two-frame-positions.hpp.

m_motionTask

TaskTwoFramesEquality tsid::contacts::ContactTwoFramePositions::m_motionTask

protected

Definition at line 102 of file contacts/contact-two-frame-positions.hpp.

m_motionTaskWeight

double tsid::contacts::ContactTwoFramePositions::m_motionTaskWeight

protected

Definition at line 112 of file contacts/contact-two-frame-positions.hpp.

m_regularizationTaskWeight

double tsid::contacts::ContactTwoFramePositions::m_regularizationTaskWeight

protected

Definition at line 111 of file contacts/contact-two-frame-positions.hpp.

m_weightForceRegTask

Vector3 tsid::contacts::ContactTwoFramePositions::m_weightForceRegTask

protected

Definition at line 106 of file contacts/contact-two-frame-positions.hpp.

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

• contacts/contact-two-frame-positions.hpp
• src/contacts/contact-two-frame-positions.cpp