#include <tsid/contacts/contact-6d.hpp>
Public Types | |
typedef math::ConstRefVector | ConstRefVector |
typedef math::Matrix3x | Matrix3x |
typedef math::Vector6 | Vector6 |
typedef math::Vector3 | Vector3 |
typedef math::Vector | Vector |
typedef tasks::TaskSE3Equality | TaskSE3Equality |
typedef math::ConstraintInequality | ConstraintInequality |
typedef math::ConstraintEquality | ConstraintEquality |
typedef pinocchio::SE3 | SE3 |
![]() | |
typedef math::ConstraintInequality | ConstraintInequality |
typedef math::ConstraintEquality | ConstraintEquality |
typedef math::ConstRefVector | ConstRefVector |
typedef math::Matrix | Matrix |
typedef math::Matrix3x | Matrix3x |
typedef tasks::TaskSE3Equality | TaskSE3Equality |
typedef pinocchio::Data | Data |
typedef robots::RobotWrapper | RobotWrapper |
Public Member Functions | |
Contact6d (const std::string &name, RobotWrapper &robot, const std::string &frameName, ConstRefMatrix contactPoints, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce) | |
TSID_DEPRECATED | Contact6d (const std::string &name, RobotWrapper &robot, const std::string &frameName, ConstRefMatrix contactPoints, ConstRefVector contactNormal, const double frictionCoefficient, const double minNormalForce, const double maxNormalForce, const double forceRegWeight) |
virtual unsigned int | n_motion () const |
Return the number of motion constraints. More... | |
virtual unsigned int | n_force () const |
Return the number of force variables. More... | |
virtual const ConstraintBase & | computeMotionTask (const double t, ConstRefVector q, ConstRefVector v, Data &data) |
virtual const ConstraintInequality & | computeForceTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data) |
virtual const Matrix & | getForceGeneratorMatrix () |
virtual const ConstraintEquality & | computeForceRegularizationTask (const double t, ConstRefVector q, ConstRefVector v, const Data &data) |
const TaskSE3Equality & | getMotionTask () const |
const ConstraintBase & | getMotionConstraint () const |
const ConstraintInequality & | getForceConstraint () const |
const ConstraintEquality & | getForceRegularizationTask () const |
double | getNormalForce (ConstRefVector f) const |
double | getMinNormalForce () const |
double | getMaxNormalForce () const |
const Matrix3x & | getContactPoints () const |
const Vector & | Kp () const |
const Vector & | Kd () const |
void | Kp (ConstRefVector Kp) |
void | Kd (ConstRefVector Kp) |
bool | setContactPoints (ConstRefMatrix contactPoints) |
bool | setContactNormal (ConstRefVector contactNormal) |
bool | setFrictionCoefficient (const double frictionCoefficient) |
bool | setMinNormalForce (const double minNormalForce) |
bool | setMaxNormalForce (const double maxNormalForce) |
void | setReference (const SE3 &ref) |
void | setForceReference (ConstRefVector &f_ref) |
void | setRegularizationTaskWeightVector (ConstRefVector &w) |
![]() | |
ContactBase (const std::string &name, RobotWrapper &robot) | |
const std::string & | name () const |
void | name (const std::string &name) |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix | ConstRefMatrix |
![]() | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstraintBase | ConstraintBase |
Protected Member Functions | |
void | updateForceInequalityConstraints () |
void | updateForceRegularizationTask () |
void | updateForceGeneratorMatrix () |
Protected Attributes | |
TaskSE3Equality | m_motionTask |
ConstraintInequality | m_forceInequality |
ConstraintEquality | m_forceRegTask |
Matrix3x | m_contactPoints |
Vector3 | m_contactNormal |
Vector6 | m_fRef |
Vector6 | m_weightForceRegTask |
double | m_mu |
double | m_fMin |
double | m_fMax |
Matrix | m_forceGenMat |
![]() | |
std::string | m_name |
RobotWrapper & | m_robot |
Reference on the robot model. More... | |
typedef pinocchio::SE3 tsid::contacts::Contact6d::SE3 |
Contact6d::Contact6d | ( | const std::string & | name, |
RobotWrapper & | robot, | ||
const std::string & | frameName, | ||
ConstRefMatrix | contactPoints, | ||
ConstRefVector | contactNormal, | ||
const double | frictionCoefficient, | ||
const double | minNormalForce, | ||
const double | maxNormalForce | ||
) |
Contact6d::Contact6d | ( | const std::string & | name, |
RobotWrapper & | robot, | ||
const std::string & | frameName, | ||
ConstRefMatrix | contactPoints, | ||
ConstRefVector | contactNormal, | ||
const double | frictionCoefficient, | ||
const double | minNormalForce, | ||
const double | maxNormalForce, | ||
const double | forceRegWeight | ||
) |
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
const Vector & Contact6d::Kd | ( | ) | const |
void Contact6d::Kd | ( | ConstRefVector | Kp | ) |
const Vector & Contact6d::Kp | ( | ) | const |
void Contact6d::Kp | ( | ConstRefVector | Kp | ) |
|
virtual |
Return the number of force variables.
Implements tsid::contacts::ContactBase.
|
virtual |
Return the number of motion constraints.
Implements tsid::contacts::ContactBase.
bool Contact6d::setContactNormal | ( | ConstRefVector | contactNormal | ) |
bool Contact6d::setContactPoints | ( | ConstRefMatrix | contactPoints | ) |
void Contact6d::setForceReference | ( | ConstRefVector & | f_ref | ) |
bool Contact6d::setFrictionCoefficient | ( | const double | frictionCoefficient | ) |
|
virtual |
Implements tsid::contacts::ContactBase.
|
virtual |
Implements tsid::contacts::ContactBase.
void Contact6d::setReference | ( | const SE3 & | ref | ) |
void Contact6d::setRegularizationTaskWeightVector | ( | ConstRefVector & | w | ) |
|
protected |
|
protected |
|
protected |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef math::ConstRefMatrix tsid::contacts::Contact6d::ConstRefMatrix |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |