Template Struct DualCoulombFrictionConeTpl

Struct Documentation

template<typename _Scalar>
struct DualCoulombFrictionConeTpl

Dual of the 3d Coulomb friction cone.

Public Types

typedef _Scalar Scalar
typedef CoulombFrictionConeTpl<Scalar> DualCone

Public Functions

inline explicit DualCoulombFrictionConeTpl(const Scalar mu)

Default constructor.

Parameters:

mu[in] Friction coefficient

DualCoulombFrictionConeTpl(const DualCoulombFrictionConeTpl &other) = default

Copy constructor.

DualCoulombFrictionConeTpl &operator=(const DualCoulombFrictionConeTpl &other) = default

Copy operator.

inline bool operator==(const DualCoulombFrictionConeTpl &other) const

Comparison operator.

inline bool operator!=(const DualCoulombFrictionConeTpl &other) const

Difference operator.

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.

inline DualCone dual() const

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

Public Members

Scalar mu