Template Struct DualCoulombFrictionConeTpl
Defined in File coulomb-friction-cone.hpp
Struct Documentation
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template<typename _Scalar>
struct DualCoulombFrictionConeTpl -
Dual of the 3d Coulomb friction cone.
Public Functions
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inline explicit DualCoulombFrictionConeTpl(const Scalar mu)
Default constructor.
- Parameters:
mu – [in] Friction coefficient
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DualCoulombFrictionConeTpl(const DualCoulombFrictionConeTpl &other) = default
Copy constructor.
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DualCoulombFrictionConeTpl &operator=(const DualCoulombFrictionConeTpl &other) = default
Copy operator.
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inline bool operator==(const DualCoulombFrictionConeTpl &other) const
Comparison operator.
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inline bool operator!=(const DualCoulombFrictionConeTpl &other) const
Difference operator.
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template<typename Vector3Like>
inline bool isInside(const Eigen::MatrixBase<Vector3Like> &v, const Scalar prec = Scalar(0)) const Check whether a vector v lies within the cone.
- Parameters:
v – [in] vector to check (assimilated to a linear velocity).
- template<typename Vector3Like> inline PINOCCHIO_EIGEN_PLAIN_TYPE (Vector3Like) project(const Eigen
Project a vector x onto the cone.
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inline explicit DualCoulombFrictionConeTpl(const Scalar mu)