Template Struct CoulombFrictionConeTpl
Defined in File coulomb-friction-cone.hpp
Struct Documentation
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template<typename _Scalar>
struct CoulombFrictionConeTpl -
3d Coulomb friction cone.
Public Types
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typedef DualCoulombFrictionConeTpl<Scalar> DualCone
Public Functions
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inline explicit CoulombFrictionConeTpl(const Scalar mu)
Default constructor.
- Parameters:
mu – [in] Friction coefficient
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CoulombFrictionConeTpl(const CoulombFrictionConeTpl &other) = default
Copy constructor.
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CoulombFrictionConeTpl &operator=(const CoulombFrictionConeTpl &other) = default
Copy operator.
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inline bool operator==(const CoulombFrictionConeTpl &other) const
Comparison operator.
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inline bool operator!=(const CoulombFrictionConeTpl &other) const
Difference operator.
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template<typename Vector3Like>
inline bool isInside(const Eigen::MatrixBase<Vector3Like> &f, const Scalar prec = Scalar(0)) const Check whether a vector x lies within the cone.
- Parameters:
f – [in] vector to check (assimilated to a force vector).
- template<typename Vector3Like> inline PINOCCHIO_EIGEN_PLAIN_TYPE (Vector3Like) project(const Eigen
Project a vector x onto the cone.
Project a vector x onto the cone with a matric specified by the diagonal matrix R.
\param[in] x a 3d vector to project. \param[in] R a 3d vector representing the diagonal of the weights matrix. The tangential components (the first two) of R should be equal.
Compute the complementary shift associted to the Coulomb friction cone for complementarity satisfaction in complementary problems.
Compute the radial projection associted to the Coulomb friction cone.
\param[in] f a force vector.
- Parameters:
x – [in] a 3d vector to project.
v – [in] a dual vector.
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typedef DualCoulombFrictionConeTpl<Scalar> DualCone