tsid::contacts::ContactPoint Class Reference

#include <contact-point.hpp>

Inheritance diagram for tsid::contacts::ContactPoint:

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
	ContactPoint (const std::string &name, RobotWrapper &robot, const std::string &frameName, ConstRefVector contactNormal, const double frictionCoefficient, 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 TaskSE3Equality &	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	setReference (const SE3 &ref)
void	setRegularizationTaskWeightVector (ConstRefVector &w)
void	useLocalFrame (bool local_frame)
	Specifies if properties of the contact point and motion task are expressed in the local or local world oriented frame. The contact forces, contact normal and contact coefficients are interpreted in the specified frame. More...
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
Vector3	m_fRef
Vector	m_Kd3
Vector	m_Kp3
TaskSE3Equality	m_motionTask
double	m_motionTaskWeight
double	m_mu
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 28 of file contacts/contact-point.hpp.

Member Typedef Documentation

ConstraintEquality

typedef math::ConstraintEquality tsid::contacts::ContactPoint::ConstraintEquality

Definition at line 40 of file contacts/contact-point.hpp.

ConstraintInequality

typedef math::ConstraintInequality tsid::contacts::ContactPoint::ConstraintInequality

Definition at line 39 of file contacts/contact-point.hpp.

ConstRefVector

typedef math::ConstRefVector tsid::contacts::ContactPoint::ConstRefVector

Definition at line 33 of file contacts/contact-point.hpp.

Matrix3x

typedef math::Matrix3x tsid::contacts::ContactPoint::Matrix3x

Definition at line 34 of file contacts/contact-point.hpp.

SE3

typedef pinocchio::SE3 tsid::contacts::ContactPoint::SE3

Definition at line 41 of file contacts/contact-point.hpp.

TaskSE3Equality

typedef tasks::TaskSE3Equality tsid::contacts::ContactPoint::TaskSE3Equality

Definition at line 38 of file contacts/contact-point.hpp.

Vector

typedef math::Vector tsid::contacts::ContactPoint::Vector

Definition at line 37 of file contacts/contact-point.hpp.

Vector3

typedef math::Vector3 tsid::contacts::ContactPoint::Vector3

Definition at line 36 of file contacts/contact-point.hpp.

Vector6

typedef math::Vector6 tsid::contacts::ContactPoint::Vector6

Definition at line 35 of file contacts/contact-point.hpp.

Constructor & Destructor Documentation

ContactPoint()

ContactPoint::ContactPoint	(	const std::string &	name,
		RobotWrapper &	robot,
		const std::string &	frameName,
		ConstRefVector	contactNormal,
		const double	frictionCoefficient,
		const double	minNormalForce,
		const double	maxNormalForce
	)

Definition at line 29 of file src/contacts/contact-point.cpp.

Member Function Documentation

computeForceRegularizationTask()

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

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 211 of file src/contacts/contact-point.cpp.

computeForceTask()

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

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 202 of file src/contacts/contact-point.cpp.

computeMotionTask()

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

overridevirtual

Implements tsid::contacts::ContactBase.

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

getContactPoints()

const Matrix3x & ContactPoint::getContactPoints ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 95 of file src/contacts/contact-point.cpp.

getForceConstraint()

const ConstraintInequality & ContactPoint::getForceConstraint ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

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

getForceGeneratorMatrix()

const Matrix & ContactPoint::getForceGeneratorMatrix ( )

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 209 of file src/contacts/contact-point.cpp.

getForceRegularizationTask()

const ConstraintEquality & ContactPoint::getForceRegularizationTask ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 231 of file src/contacts/contact-point.cpp.

getMaxNormalForce()

double ContactPoint::getMaxNormalForce ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 217 of file src/contacts/contact-point.cpp.

getMinNormalForce()

double ContactPoint::getMinNormalForce ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 216 of file src/contacts/contact-point.cpp.

getMotionConstraint()

const ConstraintBase & ContactPoint::getMotionConstraint ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 223 of file src/contacts/contact-point.cpp.

getMotionTask()

const TaskSE3Equality & ContactPoint::getMotionTask ( ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 219 of file src/contacts/contact-point.cpp.

getMotionTaskWeight()

double tsid::contacts::ContactPoint::getMotionTaskWeight

(

)

const

getNormalForce()

double ContactPoint::getNormalForce ( ConstRefVector  f ) const

overridevirtual

Implements tsid::contacts::ContactBase.

Definition at line 88 of file src/contacts/contact-point.cpp.

Kd() [1/2]

const Vector & ContactPoint::Kd

(

)

Definition at line 121 of file src/contacts/contact-point.cpp.

Kd() [2/2]

void ContactPoint::Kd

(

ConstRefVector

Kp

)

Definition at line 134 of file src/contacts/contact-point.cpp.

Kp() [1/2]

const Vector & ContactPoint::Kp

(

)

Definition at line 116 of file src/contacts/contact-point.cpp.

Kp() [2/2]

void ContactPoint::Kp

(

ConstRefVector

Kp

)

Definition at line 126 of file src/contacts/contact-point.cpp.

n_force()

unsigned int ContactPoint::n_force ( ) const

overridevirtual

Return the number of force variables.

Implements tsid::contacts::ContactBase.

Definition at line 114 of file src/contacts/contact-point.cpp.

n_motion()

unsigned int ContactPoint::n_motion ( ) const

overridevirtual

Return the number of motion constraints.

Implements tsid::contacts::ContactBase.

Definition at line 113 of file src/contacts/contact-point.cpp.

setContactNormal()

bool ContactPoint::setContactNormal

(

ConstRefVector

contactNormal

)

Definition at line 142 of file src/contacts/contact-point.cpp.

setForceReference()

void ContactPoint::setForceReference

(

ConstRefVector &

f_ref

)

Definition at line 184 of file src/contacts/contact-point.cpp.

setFrictionCoefficient()

bool ContactPoint::setFrictionCoefficient

(

const double

frictionCoefficient

)

Definition at line 152 of file src/contacts/contact-point.cpp.

setMaxNormalForce()

bool ContactPoint::setMaxNormalForce ( const double  maxNormalForce )

overridevirtual

Implements tsid::contacts::ContactBase.

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

setMinNormalForce()

bool ContactPoint::setMinNormalForce ( const double  minNormalForce )

overridevirtual

Implements tsid::contacts::ContactBase.

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

setMotionTaskWeight()

bool tsid::contacts::ContactPoint::setMotionTaskWeight

(

const double

w

)

setReference()

void ContactPoint::setReference

(

const SE3 &

ref

)

Definition at line 191 of file src/contacts/contact-point.cpp.

setRegularizationTaskWeightVector()

void ContactPoint::setRegularizationTaskWeightVector

(

ConstRefVector &

w

)

Definition at line 99 of file src/contacts/contact-point.cpp.

updateForceGeneratorMatrix()

void ContactPoint::updateForceGeneratorMatrix ( )

protected

Definition at line 111 of file src/contacts/contact-point.cpp.

updateForceInequalityConstraints()

void ContactPoint::updateForceInequalityConstraints ( )

protected

Definition at line 61 of file src/contacts/contact-point.cpp.

updateForceRegularizationTask()

void ContactPoint::updateForceRegularizationTask ( )

protected

Definition at line 104 of file src/contacts/contact-point.cpp.

useLocalFrame()

void ContactPoint::useLocalFrame

(

bool

local_frame

)

Specifies if properties of the contact point and motion task are expressed in the local or local world oriented frame. The contact forces, contact normal and contact coefficients are interpreted in the specified frame.

Parameters

local_frame

If true, use the local frame, otherwise use the local world oriented

Definition at line 57 of file src/contacts/contact-point.cpp.

Member Data Documentation

ConstRefMatrix

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix tsid::contacts::ContactPoint::ConstRefMatrix

Definition at line 32 of file contacts/contact-point.hpp.

m_contactNormal

Vector3 tsid::contacts::ContactPoint::m_contactNormal

protected

Definition at line 114 of file contacts/contact-point.hpp.

m_contactPoints

Matrix3x tsid::contacts::ContactPoint::m_contactPoints

protected

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

m_fMax

double tsid::contacts::ContactPoint::m_fMax

protected

Definition at line 121 of file contacts/contact-point.hpp.

m_fMin

double tsid::contacts::ContactPoint::m_fMin

protected

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

m_forceGenMat

Matrix tsid::contacts::ContactPoint::m_forceGenMat

protected

Definition at line 124 of file contacts/contact-point.hpp.

m_forceInequality

ConstraintInequality tsid::contacts::ContactPoint::m_forceInequality

protected

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

m_forceRegTask

ConstraintEquality tsid::contacts::ContactPoint::m_forceRegTask

protected

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

m_fRef

Vector3 tsid::contacts::ContactPoint::m_fRef

protected

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

m_Kd3

Vector tsid::contacts::ContactPoint::m_Kd3

protected

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

m_Kp3

Vector tsid::contacts::ContactPoint::m_Kp3

protected

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

m_motionTask

TaskSE3Equality tsid::contacts::ContactPoint::m_motionTask

protected

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

m_motionTaskWeight

double tsid::contacts::ContactPoint::m_motionTaskWeight

protected

Definition at line 123 of file contacts/contact-point.hpp.

m_mu

double tsid::contacts::ContactPoint::m_mu

protected

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

m_regularizationTaskWeight

double tsid::contacts::ContactPoint::m_regularizationTaskWeight

protected

Definition at line 122 of file contacts/contact-point.hpp.

m_weightForceRegTask

Vector3 tsid::contacts::ContactPoint::m_weightForceRegTask

protected

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

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

• contacts/contact-point.hpp
• src/contacts/contact-point.cpp