#include <contact-6d.hpp>

Inheritance diagram for tsid::python::Contact6DPythonVisitor< Contact6d >:

Public Member Functions
template<class PyClass >
void	visit (PyClass &cl) const

Static Public Member Functions
static math::ConstraintEquality	computeForceRegularizationTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const pinocchio::Data &data)

static math::ConstraintInequality	computeForceTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const pinocchio::Data &data)

static math::ConstraintEquality	computeMotionTask (Contact6d &self, const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, pinocchio::Data &data)

static void	expose (const std::string &class_name)

static const Eigen::MatrixXd &	getForceGeneratorMatrix (Contact6d &self)

static tsid::tasks::TaskSE3Equality	getMotionTask (Contact6d &self)

static double	getNormalForce (Contact6d &self, Eigen::VectorXd f)

static const Eigen::VectorXd &	Kd (Contact6d &self)

static const Eigen::VectorXd &	Kp (Contact6d &self)

static std::string	name (Contact6d &self)

static bool	setContactNormal (Contact6d &self, const ::Eigen::VectorXd contactNormal)

static bool	setContactPoints (Contact6d &self, const ::Eigen::MatrixXd contactpoints)

static void	setForceReference (Contact6d &self, const ::Eigen::VectorXd f_ref)

static bool	setFrictionCoefficient (Contact6d &self, const double frictionCoefficient)

static void	setKd (Contact6d &self, const ::Eigen::VectorXd Kd)

static void	setKp (Contact6d &self, const ::Eigen::VectorXd Kp)

static bool	setMaxNormalForce (Contact6d &self, const double maxNormalForce)

static bool	setMinNormalForce (Contact6d &self, const double minNormalForce)

static void	setReference (Contact6d &self, const pinocchio::SE3 &ref)

static void	setRegularizationTaskWeightVector (Contact6d &self, const ::Eigen::VectorXd w)

Detailed Description

template<typename Contact6d>
struct tsid::python::Contact6DPythonVisitor< Contact6d >

Definition at line 35 of file bindings/python/contacts/contact-6d.hpp.

Member Function Documentation

◆ computeForceRegularizationTask()

template<typename Contact6d >

static math::ConstraintEquality tsid::python::Contact6DPythonVisitor< Contact6d >::computeForceRegularizationTask	(	Contact6d &	self,
		const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const pinocchio::Data &	data
	)

inlinestatic

Definition at line 134 of file bindings/python/contacts/contact-6d.hpp.

◆ computeForceTask()

template<typename Contact6d >

static math::ConstraintInequality tsid::python::Contact6DPythonVisitor< Contact6d >::computeForceTask	(	Contact6d &	self,
		const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const pinocchio::Data &	data
	)

inlinestatic

Definition at line 124 of file bindings/python/contacts/contact-6d.hpp.

◆ computeMotionTask()

template<typename Contact6d >

static math::ConstraintEquality tsid::python::Contact6DPythonVisitor< Contact6d >::computeMotionTask	(	Contact6d &	self,
		const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		pinocchio::Data &	data
	)

inlinestatic

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

◆ expose()

template<typename Contact6d >

static void tsid::python::Contact6DPythonVisitor< Contact6d >::expose ( const std::string & class_name )

inlinestatic

Definition at line 192 of file bindings/python/contacts/contact-6d.hpp.

◆ getForceGeneratorMatrix()

template<typename Contact6d >

static const Eigen::MatrixXd& tsid::python::Contact6DPythonVisitor< Contact6d >::getForceGeneratorMatrix ( Contact6d & self )

inlinestatic

Definition at line 148 of file bindings/python/contacts/contact-6d.hpp.

◆ getMotionTask()

template<typename Contact6d >

static tsid::tasks::TaskSE3Equality tsid::python::Contact6DPythonVisitor< Contact6d >::getMotionTask ( Contact6d & self )

inlinestatic

Definition at line 143 of file bindings/python/contacts/contact-6d.hpp.

◆ getNormalForce()

template<typename Contact6d >

static double tsid::python::Contact6DPythonVisitor< Contact6d >::getNormalForce	(	Contact6d &	self,
		Eigen::VectorXd	f
	)

inlinestatic

Definition at line 188 of file bindings/python/contacts/contact-6d.hpp.

◆ Kd()

template<typename Contact6d >

static const Eigen::VectorXd& tsid::python::Contact6DPythonVisitor< Contact6d >::Kd ( Contact6d & self )

inlinestatic

Definition at line 152 of file bindings/python/contacts/contact-6d.hpp.

◆ Kp()

template<typename Contact6d >

static const Eigen::VectorXd& tsid::python::Contact6DPythonVisitor< Contact6d >::Kp ( Contact6d & self )

inlinestatic

Definition at line 151 of file bindings/python/contacts/contact-6d.hpp.

◆ name()

template<typename Contact6d >

static std::string tsid::python::Contact6DPythonVisitor< Contact6d >::name ( Contact6d & self )

inlinestatic

Definition at line 108 of file bindings/python/contacts/contact-6d.hpp.

◆ setContactNormal()

template<typename Contact6d >

static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setContactNormal	(	Contact6d &	self,
		const ::Eigen::VectorXd	contactNormal
	)

inlinestatic

Definition at line 163 of file bindings/python/contacts/contact-6d.hpp.

◆ setContactPoints()

template<typename Contact6d >

static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setContactPoints	(	Contact6d &	self,
		const ::Eigen::MatrixXd	contactpoints
	)

inlinestatic

Definition at line 159 of file bindings/python/contacts/contact-6d.hpp.

◆ setForceReference()

template<typename Contact6d >

static void tsid::python::Contact6DPythonVisitor< Contact6d >::setForceReference	(	Contact6d &	self,
		const ::Eigen::VectorXd	f_ref
	)

inlinestatic

Definition at line 180 of file bindings/python/contacts/contact-6d.hpp.

◆ setFrictionCoefficient()

template<typename Contact6d >

static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setFrictionCoefficient	(	Contact6d &	self,
		const double	frictionCoefficient
	)

inlinestatic

Definition at line 167 of file bindings/python/contacts/contact-6d.hpp.

◆ setKd()

template<typename Contact6d >

static void tsid::python::Contact6DPythonVisitor< Contact6d >::setKd	(	Contact6d &	self,
		const ::Eigen::VectorXd	Kd
	)

inlinestatic

Definition at line 156 of file bindings/python/contacts/contact-6d.hpp.

◆ setKp()

template<typename Contact6d >

static void tsid::python::Contact6DPythonVisitor< Contact6d >::setKp	(	Contact6d &	self,
		const ::Eigen::VectorXd	Kp
	)

inlinestatic

Definition at line 153 of file bindings/python/contacts/contact-6d.hpp.

◆ setMaxNormalForce()

template<typename Contact6d >

static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setMaxNormalForce	(	Contact6d &	self,
		const double	maxNormalForce
	)

inlinestatic

Definition at line 174 of file bindings/python/contacts/contact-6d.hpp.

◆ setMinNormalForce()

template<typename Contact6d >

static bool tsid::python::Contact6DPythonVisitor< Contact6d >::setMinNormalForce	(	Contact6d &	self,
		const double	minNormalForce
	)

inlinestatic

Definition at line 171 of file bindings/python/contacts/contact-6d.hpp.

◆ setReference()

template<typename Contact6d >

static void tsid::python::Contact6DPythonVisitor< Contact6d >::setReference	(	Contact6d &	self,
		const pinocchio::SE3 &	ref
	)

inlinestatic

Definition at line 177 of file bindings/python/contacts/contact-6d.hpp.

◆ setRegularizationTaskWeightVector()

template<typename Contact6d >

static void tsid::python::Contact6DPythonVisitor< Contact6d >::setRegularizationTaskWeightVector	(	Contact6d &	self,
		const ::Eigen::VectorXd	w
	)

inlinestatic

Definition at line 184 of file bindings/python/contacts/contact-6d.hpp.

◆ visit()

template<typename Contact6d >

template<class PyClass >

void tsid::python::Contact6DPythonVisitor< Contact6d >::visit ( PyClass & cl ) const

inline

Definition at line 39 of file bindings/python/contacts/contact-6d.hpp.

The documentation for this struct was generated from the following file:

bindings/python/contacts/contact-6d.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

template<typename Contact6d> struct tsid::python::Contact6DPythonVisitor< Contact6d >

Member Function Documentation

◆ computeForceRegularizationTask()

◆ computeForceTask()

◆ computeMotionTask()

◆ expose()

◆ getForceGeneratorMatrix()

◆ getMotionTask()

◆ getNormalForce()

◆ Kd()

◆ Kp()

◆ name()

◆ setContactNormal()

◆ setContactPoints()

◆ setForceReference()

◆ setFrictionCoefficient()

◆ setKd()

◆ setKp()

◆ setMaxNormalForce()

◆ setMinNormalForce()

◆ setReference()

◆ setRegularizationTaskWeightVector()

◆ visit()

template<typename Contact6d>
struct tsid::python::Contact6DPythonVisitor< Contact6d >