A disc parametrized by the contact force magnitude, the friction coefficient and the torsional friction coefficient according to "Howe, R.D and Cutkosky, M - Practical Force-Motion Models for Sliding Manipulation; IJRR,1996". More...

#include <limit_surface.h>

Public Member Functions
ContactType	getContactType () const
int	getDisc () const
double	getForceMagnitude () const
WrenchCone const *	getLocalWrenchCone () const
double	getMu0 () const
double	getMuT () const
int	getNumPrimitiveWrenches () const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LimitSurface (double force_magnitude)
	LimitSurface (double force_magnitude, int disc, double mu_0)
	LimitSurface (double force_magnitude, int disc, double mu_0, double mu_T)
	LimitSurface (LimitSurface const &src)
LimitSurface &	operator= (LimitSurface const &src)
bool	operator== (LimitSurface const &other) const
	~LimitSurface ()
Private Member Functions
void	addFrictionlessWrench ()
void	addHardFingerWrenches ()
void	addSoftFingerWrenches ()
void	initializeSelectionMatrix ()
	LimitSurface ()
Private Attributes
ContactType	contact_type_
int	disc_
double	force_magnitude_
WrenchCone	local_cone_
double	mu_0_
double	mu_T_
Eigen::Matrix< double, 6, 4 >	selection_matrix_
Friends
std::ostream &	operator<< (std::ostream &stream, LimitSurface const &lim_surf)
class	OWS
class	PointContactModel

Detailed Description

A disc parametrized by the contact force magnitude, the friction coefficient and the torsional friction coefficient according to "Howe, R.D and Cutkosky, M - Practical Force-Motion Models for Sliding Manipulation; IJRR,1996".

Definition at line 16 of file limit_surface.h.

Constructor & Destructor Documentation

ICR::LimitSurface::LimitSurface ( ) [private]

Definition at line 9 of file limit_surface.cpp.

ICR::LimitSurface::LimitSurface ( double force_magnitude )

Definition at line 11 of file limit_surface.cpp.

ICR::LimitSurface::LimitSurface	(	double	force_magnitude,
		int	disc,
		double	mu_0
	)

Definition at line 20 of file limit_surface.cpp.

ICR::LimitSurface::LimitSurface	(	double	force_magnitude,
		int	disc,
		double	mu_0,
		double	mu_T
	)

Definition at line 33 of file limit_surface.cpp.

ICR::LimitSurface::LimitSurface ( LimitSurface const & src )

Definition at line 48 of file limit_surface.cpp.

ICR::LimitSurface::~LimitSurface ( )

Definition at line 81 of file limit_surface.cpp.

Member Function Documentation

void ICR::LimitSurface::addFrictionlessWrench ( ) [private]

Definition at line 92 of file limit_surface.cpp.

void ICR::LimitSurface::addHardFingerWrenches ( ) [private]

Definition at line 99 of file limit_surface.cpp.

void ICR::LimitSurface::addSoftFingerWrenches ( ) [private]

Definition at line 114 of file limit_surface.cpp.

ContactType ICR::LimitSurface::getContactType ( ) const

Definition at line 136 of file limit_surface.cpp.

int ICR::LimitSurface::getDisc ( ) const

Definition at line 132 of file limit_surface.cpp.

double ICR::LimitSurface::getForceMagnitude ( ) const

Definition at line 138 of file limit_surface.cpp.

WrenchCone const * ICR::LimitSurface::getLocalWrenchCone ( ) const

Definition at line 134 of file limit_surface.cpp.

double ICR::LimitSurface::getMu0 ( ) const

Definition at line 128 of file limit_surface.cpp.

double ICR::LimitSurface::getMuT ( ) const

Definition at line 130 of file limit_surface.cpp.

int ICR::LimitSurface::getNumPrimitiveWrenches ( ) const

Definition at line 126 of file limit_surface.cpp.

void ICR::LimitSurface::initializeSelectionMatrix ( ) [private]

Definition at line 83 of file limit_surface.cpp.

LimitSurface & ICR::LimitSurface::operator= ( LimitSurface const & src )

Definition at line 52 of file limit_surface.cpp.

bool ICR::LimitSurface::operator== ( LimitSurface const & other ) const

Definition at line 67 of file limit_surface.cpp.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	stream,
		LimitSurface const &	lim_surf
	)		`[friend]`

Definition at line 140 of file limit_surface.cpp.

friend class OWS [friend]

Definition at line 46 of file limit_surface.h.

friend class PointContactModel [friend]

Definition at line 45 of file limit_surface.h.

Member Data Documentation

ContactType ICR::LimitSurface::contact_type_ [private]

Definition at line 32 of file limit_surface.h.

int ICR::LimitSurface::disc_ [private]

Discretization of the corresponding friction cone; the total number of primitive wrenches associated with a contact point/wrench cone is disc_ + 1 (wrench produced by the contact normal force) + 2 (only if the Soft_Finger contact type is applied)

Definition at line 25 of file limit_surface.h.

double ICR::LimitSurface::force_magnitude_ [private]

Definition at line 20 of file limit_surface.h.

WrenchCone ICR::LimitSurface::local_cone_ [private]

Local cone which is rotated and shifted to form the wrench cones building up ICR::OWS::wrench_cones_

Definition at line 31 of file limit_surface.h.

double ICR::LimitSurface::mu_0_ [private]

Definition at line 26 of file limit_surface.h.

double ICR::LimitSurface::mu_T_ [private]

Definition at line 27 of file limit_surface.h.

Eigen::Matrix<double,6,4> ICR::LimitSurface::selection_matrix_ [private]

Selection matrix for the wrench cones according to "Murray, Li & Sastry - A Mathematical Introduction to Robotic Manipulation; pp. 219"