pinocchio::DualCoulombFrictionConeTpl< _Scalar > Struct Template Reference

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#include <coulomb-friction-cone.hpp>

Public Types
typedef CoulombFrictionConeTpl< Scalar >	DualCone
typedef _Scalar	Scalar

Public Member Functions
DualCone	dual () const
	Returns the dual cone associated to this. ///. More...
	DualCoulombFrictionConeTpl (const DualCoulombFrictionConeTpl &other)=default
	Copy constructor. More...
	DualCoulombFrictionConeTpl (const Scalar mu)
	Default constructor. More...
template<typename Vector3Like >
bool	isInside (const Eigen::MatrixBase< Vector3Like > &v, const Scalar prec=Scalar(0)) const
	Check whether a vector v lies within the cone. More...
bool	operator!= (const DualCoulombFrictionConeTpl &other) const
	Difference operator. More...
DualCoulombFrictionConeTpl &	operator= (const DualCoulombFrictionConeTpl &other)=default
	Copy operator. More...
bool	operator== (const DualCoulombFrictionConeTpl &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::DualCoulombFrictionConeTpl< _Scalar >

 

Dual of the 3d Coulomb friction cone.

Definition at line 16 of file algorithm/constraints/coulomb-friction-cone.hpp.

Member Typedef Documentation

DualCone

template<typename _Scalar >

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

Definition at line 205 of file algorithm/constraints/coulomb-friction-cone.hpp.

Scalar

template<typename _Scalar >

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

Definition at line 204 of file algorithm/constraints/coulomb-friction-cone.hpp.

Constructor & Destructor Documentation

DualCoulombFrictionConeTpl() [1/2]

template<typename _Scalar >

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

inlineexplicit

Default constructor.

Parameters

[in]

mu

Friction coefficient

Definition at line 210 of file algorithm/constraints/coulomb-friction-cone.hpp.

DualCoulombFrictionConeTpl() [2/2]

template<typename _Scalar >

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

default

Copy constructor.

Member Function Documentation

dual()

template<typename _Scalar >

DualCone pinocchio::DualCoulombFrictionConeTpl< _Scalar >::dual ( ) const

inline

Returns the dual cone associated to this. ///.

Definition at line 284 of file algorithm/constraints/coulomb-friction-cone.hpp.

isInside()

template<typename _Scalar >

template<typename Vector3Like >

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

inline

Check whether a vector v lies within the cone.

Parameters

[in]

v

vector to check (assimilated to a linear velocity).

Definition at line 239 of file algorithm/constraints/coulomb-friction-cone.hpp.

operator!=()

template<typename _Scalar >

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

inline

Difference operator.

Definition at line 229 of file algorithm/constraints/coulomb-friction-cone.hpp.

operator=()

template<typename _Scalar >

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

default

Copy operator.

operator==()

template<typename _Scalar >

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

inline

Comparison operator.

Definition at line 223 of file algorithm/constraints/coulomb-friction-cone.hpp.

PINOCCHIO_EIGEN_PLAIN_TYPE()

template<typename _Scalar >

template<typename Vector3Like >

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

inline

Project a vector x onto the cone.

Definition at line 248 of file algorithm/constraints/coulomb-friction-cone.hpp.

Member Data Documentation

mu

template<typename _Scalar >

Scalar pinocchio::DualCoulombFrictionConeTpl< _Scalar >::mu

Definition at line 290 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